Slam with D435 using pre-recorded trajectory

[EvertonTrentoJR]

I´m using the D435i camera with a jetson TX1. I´ve already isntalled the IntelRealsense SDK and the ROS Melodic, but i´m not able to run the aplication from the link: https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i.

I want to know if have some way to use the .bag captured with the realsense-viewer, converted using the rs-convert.exe to a CSV file and reconstruct the scene using the slam with d435i exemple.