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

FIrst I start D400 and T265 node by

ros2 launch realsense2camera rsd400andt265_launch.py

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

remapping=[('depth', '/D400/depth/imagerectraw'), ('depthcamerainfo', '/D400/depth/camera_info')]

and in terminal

ros2 launch depthimagetolaserscan depthimagetolaserscan-launch.py

Then start slamtool box

ros2 launch slamtoolbox onlineasync_launch.py

But there is no /map data published.