Thank you very much for providing us with such a great method.
I am Japanese and my English is not good, but I hope you will read this to the end.
I want to run ,rtabmap using zed2 and vlp16, but I don't know how to create a launch file or set other parameters. I have checked other answers, etc., but could not get the map to display properly even after running it the same way.
Can you please tell me how I should do it?
Thank you in advance for your time.
The bag file I created looks like this
To combine both, you will have to choose which sensor is used for odometry. If you choose lidar, then use test_velodyne.launch and enable camera inputs on rtabmap node. It is recommended to use rgbd_sync or stereo_sync node (output: rgbd_image) to sync camera data before sending it to rtabmap node. rtabmap node would subscribe to lidar and rgbd_image topic.