diff --git a/README.md b/README.md
index 9ab59f3..784272d 100644
--- a/README.md
+++ b/README.md
@@ -97,7 +97,19 @@ You can run both the `online_node` and the `offline_node` on a 2D Laser topic (w
 ```sh
 ros2 launch kinematic_icp online_node.launch.py lidar_topic:=<LASER_2D_TOPIC> use_2d_lidar:=true
 ```
+## Sample data
 
+If you want to test the code on a sample bag file, just download it [here](https://www.ipb.uni-bonn.de/html/projects/kinematic-icp/2024-08-23-11-05-41_0_clipped.mcap) and run
+
+```sh
+ros2 launch kinematic_icp offline_node.launch.py lidar_topic:=/lidar_points bag_filename:=./2024-08-23-11-05-41_0_clipped.mcap
+```
+
+or for the 2D LiDAR
+
+```sh
+ros2 launch kinematic_icp offline_node.launch.py lidar_topic:=/front_scan bag_filename:=./2024-08-23-11-05-41_0_clipped.mcap use_2d_lidar:=true
+```
 
 ## Citation