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There are multiple options depending on the environment. If wheel odometry cannot be computed accurately, you may rely on lidar odometry alone (see example here). If you have a wheel odometry not too bad but drifting quite fast, you may add an extra IMU to do sensor fusion for better wheel odometry. You could then use that config instead for lidar odometry (this would also help for lidar deskewing).

Either the approach above used, you can feed the D435 images for global loop closure detection (global localization). I recommend to feed stereo IR images (or IR-Depth) without IR emitter on instead of RGB-D streams to rtabmap to avoid blurry images. See examples on same page than above.