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Trying to achieve the same thing, T265 for odom on top of the Mid 40 dumping clouds in to point cloud assembler or similar. No idea how to link the odom topics / frames and generally find ROS more trouble to understand than putting more effort into coding the solution myself. I did get rtabmap working with the mid 40 and ICP matching but its not suited due to the narrow FoV, also couldn't export the cloud it created which didn't help. Livox_mapper didn't work in Noetic without hacking in opencv headers and after that it shows a blank map in rviz.

Did you make any progress?

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