sudo apt install ros-humble-rtabmap-ros
ros2 launch realsense2_camera rs_launch.py
ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/camera/color/image_raw depth_topic:=/camera/camera/depth/image_rect_raw camera_info_topic:=/camera/camera/color/camera_info approx_sync:=True
ros2 run tf2_ros static_transform_publisher \
0 0 0 0 0 0 \
base_link \
camera_color_optical_frame
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