How does it work?

[CHANdaFeng]

Hello, I would like to ask how to start the downloaded dataset according to your homepage introduction, sub_ multiecho_ How to set laserscan topics? The following are my current settings

ros::Subscriber sub_multiecho_laserscan = nh.subscribe<sensor_msgs::MultiEchoLaserScan>("/multiecho_scan", 100, multiecho_laserscan_callback);
ros::Subscriber sub_laserscan = nh.subscribe<sensor_msgs::LaserScan>("/horizontal_laser_2d", 100, laserscan_callback);