How to connect OAK-D camera from Gazebo (PX4 SITL) to RTAB-Map

[SolidSnakeT]

Hello,

I’m a beginner and currently using Gazebo + ROS 2 Humble + PX4 1.15.4.
I launch the simulation with:
make px4_sitl gz_x500_depth

Then I start rtabmap with the command:
rtabmap

As described in the tutorial, I go to File > New database > Start, but I get the following error:
[ERROR] (2025-09-14 18:43:12.389) CameraOpenNI2.cpp:211::init() CameraOpenNI2: No device detected!

According to the PX4 documentation(https://docs.px4.io/main/en/sim_gazebo_gz/vehicles.html#multicopter), the simulation uses an OAK-D camera.

Could you please tell me how to properly connect the OAK-D camera from the Gazebo simulation to RTAB-Map?

Thank you!
(Sorry for the dumb question and for any mistakes caused by translation)

[matlabbe]

You should use rtabmap_ros, not the standalone version. To know how to connect to the OAK-D, we would need to know which topics are currently published, and what is the TF tree? Basically, outputs of:

ros2 run tf2_tools view_frame

ros2 topic list

after the simulator is launched.