diff --git a/cartographer_ros/launch/offline_backpack_2d.launch b/cartographer_ros/launch/offline_backpack_2d.launch
new file mode 100644
index 0000000..5388b61
--- /dev/null
+++ b/cartographer_ros/launch/offline_backpack_2d.launch
@@ -0,0 +1,32 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+
+  <node name="cartographer_offline_node" pkg="cartographer_ros"
+      type="cartographer_offline_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename backpack_2d.lua"
+          -urdf_filename $(find cartographer_ros)/urdf/backpack_2d.urdf
+          -bag_filenames $(arg bag_filenames)"
+      output="screen">
+    <remap from="horizontal_laser_2d" to="echoes" />
+  </node>
+</launch>
diff --git a/cartographer_ros/launch/offline_backpack_3d.launch b/cartographer_ros/launch/offline_backpack_3d.launch
new file mode 100644
index 0000000..bbd10cf
--- /dev/null
+++ b/cartographer_ros/launch/offline_backpack_3d.launch
@@ -0,0 +1,33 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+
+  <node name="cartographer_offline_node" pkg="cartographer_ros"
+      type="cartographer_offline_node" args="
+          -configuration_directory $(find cartographer_ros)/configuration_files
+          -configuration_basename backpack_3d.lua"
+          -urdf_filename $(find cartographer_ros)/urdf/backpack_3d.urdf
+          -bag_filenames $(arg bag_filenames)"
+      output="screen">
+    <remap from="horizontal_laser_3d" to="points2_1" />
+    <remap from="vertical_laser_3d" to="points2_2" />
+  </node>
+</launch>