Hi,
yes it is possible if the Oak-D Pro and Oak-D Pro W cameras can be configured to use
same resolution. You can then use rgbd_sync nodes to generate three rtabmap_sync/rgbd_image topics that you can feed to rtabmap_odom/rgbd_odometry and rtabmap_slam/rtabmap nodes with "subscribe_rgbd=true".
I assume Xsens imu topic has quaternion already computed (if not, look for
madgwick imu filter node), so remap topic to imu topic in rgbd_odometry (with param wait_imu_to_init=true) and rtabmap to use it.
cheers,
Mathieu