Clone the src file and build the package then run using : ros2 launch drive sim.launch.py
Build RTABMAP ROS: https://github.com/introlab/rtabmap_ros and run in second terminal using : ros2 launch rtabmap_launch rtabmap.launch.py rgb_topic:=/camera/color/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info frame_id:=base_link odom_topic:=/odom approx_sync:=true