Autonomous navigation for reaching to the goal with specified gps coordinate, while doing simultaneously localization and mapping!

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hi everyone,

I want to have a robot which goes from A point to B point (we have GPS coordinates of A and B) autonomously, while doing simultaneously localization and mapping.

I have 3d lidar, imu, gps, wheel odometer, and camers. I am working with rtabmap for localization and mapping.

Now I wan to know totally how is it possible to have autonomous navigation as well as simultaneous localization and mapping. actually i want the robot to do this and reach to the goal with gps coordinate.

I would be grateful if anybody can explain this structure. thanks