rtabmap use kinect and laser to create map
tried moving from gmapping to rtabmap to be able to project 3d obstacles in 3d map. The robot has both a laser and a kinect. in rtabmap.launch GridMapfroDepth is set to true but this only creates de grid from the kinect. Is it possible to use both laser and kinect to create the map. The idea is having a very accurate map using the laser and have the kinect camera project 3d objects on top of it. Any help would be hugely appreciated.