```
Terminal 1:
ros2 bag play /2600/bag/doom_rosbag/doom_rosbag.db3
\# spacebar pauses/resumes playback

Terminal 2:
ros2 run image_transport republish \
    raw in:=doom_image raw out:=camera/image_raw

Terminal 3:
export NO_AT_BRIDGE=1
export XDG_RUNTIME_DIR=/run/user/$UID
ros2 run stella_vslam_ros run_slam \
    -v /2600/test/orb_vocab.fbow \
    -c /2600/test/doom.yaml \
    --map-db-out /2600/test/map.msg \
    --mask /2600/test/mask.jpg \
    --ros-args -p publish_tf:=false
```