There are three issues I can see:
1) There is a missing optical rotation for the camera, there should be a -Pi/2 0 -Pi/2 rotation between the base camera frame of the camera and the optical frame.
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n10216/Screenshot_from_2024-06-27_18-40-16.png)
2) It seems that different camera_info are published on same topic name
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n10216/2024-06-27_18-41.png)
![](http://official-rtab-map-forum.206.s1.nabble.com/file/n10216/2024-06-27_18-42.png)
The fx=277 one makes the point cloud very wrong.
3) As you can see in images above, the depth registration between RGB and depth is not perfect.