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If you want to choose a single sensor, using an RGBD camera is the way to go. You can check turtlebot2 family, for example, that uses this config.
The RGBD will allow for 3D perception, but you'll need more CPU consuming algorithms to map and localize with that sensor. A LIDAR in the other hand is usually cheaper, has a greater range, precision and framerate, but you'll only see a "slice" of the world.
It boils down to which kind of application you have in mind.
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