How to use ROS2 navigation2 with realsense d435 and t265

edit

My ros2 version is foxy, and I have installed realsense_ros, slamtool_box and depthimage_to_laserscan.

FIrst I start D400 and T265 node by

ros2 launch realsense2_camera rs_d400_and_t265_launch.py

Then I convert depth to scan:
modify depthimage_to_laserscan/launch/depthimage_to_laserscan-launch.py:

remapping=[('depth', '/D400/depth/image_rect_raw'), ('depth_camera_info', '/D400/depth/camera_info')]

and in terminal

ros2 launch depthimage_to_laserscan depthimage_to_laserscan-launch.py

Then start slamtool box

ros2 launch slam_toolbox online_async_launch.py

But there is no /map data published.