How can I use the Gazebo D435i camera with a drone to start rtabmap.launch ?

[5dollars]

Hi~

I have successfully mounted the D435i camera on a drone and simulated it in Gazebo. I am using ArduPilot SITL and MAVROS to control the drone in Gazebo. I want to perform real-time RTAB-Map SLAM in Gazebo, but I keep encountering issues such as time synchronization problems, the 3D map displaying in red, and erratic IMU data.Please help me !!!

After launching rtabmap.launch, I can successfully display the image from the D435i camera in the Gazebo world, but the RTAB 3D map seems to display the wrong perspective. Could it be that there is an issue with my IMU or coordinate settings? What should I do?

Thank you!