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Based on this example, here is how to add lidar to rtabmap:

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
   ...
   <remap from="scan" to="/base_scan"/>
   <param name="subscribe_scan" type="bool" value="true"/>
   <param name="RGBD/NeighborLinkRefining" type="string" value="true"/> <!-- Odometry correction -->
   <param name="Reg/Strategy"              type="string" value="1"/>    <!-- 1=ICP -->
   <param name="Reg/Force3DoF"             type="string" value="true"/> <!-- 2d slam -->
</node>

Make sure TF of camera and lidar are correctly set, so that 3D point clouds match with the 2D scans.

cheers