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Is possible set-up rtabmap support depth camea and lidar same time?

I also try this condition, but i saw the below warning

And CommonDataSubscriber.cpp in rtabmap_ros package, below code are exist.

    if(subscribeScan2d && subscribeScan3d)
    {
            ROS_WARN("rtabmap: Parameters subscribe_scan and subscribe_scan_cloud cannot be true at the same time. Parameter subscribe_scan_cloud is set to false.");
            subscribeScan3d = false;

It look like scan3d(point cloud) and scan2d( lidar ) is not work same time.

If I know wrong, please let us me.