Adding support for 3d or visual slam

[RajasJoshi]

Hi Guys,

I wanted to try and run 3d or visual slam demos using Rtabmap or lidarslam. But i am not been able to create a launch file to make them work with the gazebo simulation. So could anyone guide me how I could make it work. Whenever I have tried running them, I haven't been able to link the base_link with the sensors, so the transform fails.

Thanks!

[tonybaltovski]

Can you get the provide demo to work? Can you provide your robot.yaml?