How to running LOCUS on my own dataset

[moonsheep99]

Hello, thanks for the great work! I want to running LOCUS on other datasets, my datasets format is .bag rosbag play xxx.bag then publish the topic according to README, it seems that only run_locus.yaml and locus.launch need to be modified. i wonder to know what i need to modify can connect the datasets and system, such in other SLAM (just need to modify the topic in config)

i think need to modify the remap in locus.launch and data path in run_locus.yaml but not success, provide some help please.

Moreover, my datasets have LiDAR data and IMU data with .bag format, but there is no data of odometry(wheel odometry)(input).