git clone https://github.com/scomup/lslam.git

Eidt the lslam.py
bagreader = BagReader(${your.bag}, ${scan topic}, ${odom topic}, ${start time}, ${start time})  
 - `{your.bag}`   : your bag file  
 - `${scan topic}`: The scan topic name.  
 - `${odom topic}`: The odometry topic name.  
 - `${start time}`: The start time(secs) of your bag file  
 - `${end time}`  : The end time(secs) of your bag file  
./lslam.py