Real sense D456 or?

[APOS80]

Hello

I wonder if real sense D456 is also supported in RTAB.

Or is there alternatives with an IMU that works?

[matlabbe]

That is the IP65 version of D455, it should probably work. You could select D400 series settings in rtabmap (RealSense2 driver).

D435i works too. I never tested D455 myself, but I heard some users using it.