Combine 2D laser and camera data for mapping, localization, navigation

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Is it possible to simultaneously use both laser scan data and camera data (e.g. point cloud or depth_image) for navigation, localization, and mapping?

Specifically, I have an RPLidar a1 which produces laser scan data and an Orbbec Astra rgbd camera which produces pointcloud data and depth_image data. Instead of only using one of the two sensors, I would like to use both of them to get better mapping, localization, and navigation results.

Which specific ROS packages should I use? Most ROS mapping, localization, and navigation packages seem to accept only either laser scan data or camera data. Thank you!