3d lidar + one monocular camera

[cheggu]

Hi, I have one bag data. This publish the pointcloud2 data of a 3d lidar and rgb image from a monocular data as sensormsg/compressedimg. I tried to take the map by refer "this demo launch file" this link. But its not working This is my launch file this is my launcrtabmap_demo.launchh file .Please help !