Calibration of RPLiDAR and RealSense for Sensor Fusion in ROS 2 Jazzy

[lena]

I am working with RPLiDAR and RealSense for sensor fusion, but I am stuck at the calibration step between the two sensors. Does RTAB-Map handle this calibration automatically? If not, can you recommend tools or resources to achieve this in ROS 2 Jazzy? Most of the available resources I found are for ROS 1.

[matlabbe]

You may look at the approaches referenced here: https://github.com/Deephome/Awesome-LiDAR-Camera-Calibration

For 2d lidar vs camera calibration, if you don't need super accurate calibration, I would use the CAD values and eye-ball the rotation using rviz.