Realsense ZR300+Turtlebot2 to SLAM and Navigation

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Dear all,

I am a rookie to develop ROS. The purpose for me is to replace kinect with zr300 on Turtlebot2 and use them to do SLAM & Navigation.

Does any open source talk about this?

I try to use the turtlebot_navigation to do this thing. But in the end, turtlebot can't recognize zr300.

I already have camera's drive and can implement it on ROS independently.

I also use the gmapping_launch and amcl_launch in turtlebot_navigation pakage to change codes but still can't see the zr300 camera on RVIZ.

Can anyone help me to understand this operation? Many thanks