usage: ros2 bag play [-h] [-s {sqlite3,my_test_plugin,my_read_only_test_plugin,mcap}]
                     [--read-ahead-queue-size READ_AHEAD_QUEUE_SIZE] [-r RATE]
                     [--topics TOPICS [TOPICS ...]] [-e REGEX] [-x EXCLUDE]
                     [--qos-profile-overrides-path QOS_PROFILE_OVERRIDES_PATH] [-l]
                     [--remap REMAP [REMAP ...]] [--storage-config-file STORAGE_CONFIG_FILE]
                     [--clock [CLOCK] | --clock-topics CLOCK_TOPICS [CLOCK_TOPICS ...] |
                     --clock-topics-all] [-d DELAY] [--playback-duration PLAYBACK_DURATION]
                     [--playback-until-sec PLAYBACK_UNTIL_SEC | --playback-until-nsec PLAYBACK_UNTIL_NSEC]
                     [--disable-keyboard-controls] [-p] [--start-offset START_OFFSET]
                     [--wait-for-all-acked TIMEOUT] [--disable-loan-message]
                     bag_path
ros2 bag play: error: argument -s/--storage: invalid choice: 'rosbag_v2' (choose from 'sqlite3', 'my_test_plugin', 'my_read_only_test_plugin', 'mcap')

PCLConfig.cmake
pcl-config.cmake

    odom_transform_.header.frame_id = "odom";
    odom_transform_.child_frame_id = "base_link";
    for(auto pos : map_->poses) {
        geometry_msgs::msg::PoseStamped pose;
        pose.pose.position.x = pos.tx;
        pose.pose.position.y = pos.ty;
        pose.pose.position.z = 0;
        tf2::Quaternion quat_tf;
        quat_tf.setRPY(0.0, 0.0, DEG2RAD(pos.th));
        geometry_msgs::msg::Quaternion quat_msg;
        quat_msg = tf2::toMsg(quat_tf);
        pose.pose.orientation = quat_msg;
        path.poses.push_back(pose);
        if(pos.tx == map_->lastPose.tx &&
                pos.ty == map_->lastPose.ty &&
                pos.th == map_->lastPose.th){
                pose.header.frame_id = "map";
                current_pose_pub_->publish(pose);
            }
        odom_transform_.header.stamp = rclcpp::Time();
        odom_transform_.transform.translation.x = pos.tx;
        odom_transform_.transform.translation.y = pos.ty;
        odom_transform_.transform.translation.z = 0.0;
        odom_transform_.transform.rotation = quat_msg;
    }

    tf_broadcaster_->sendTransform(odom_transform_);
    path_pub_->publish(path);