Autonomous navigation with Velodyne PUCK 3D Lidar and Realsense Camera

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i am trying to make an autonomous robot with as mentioned sensors.

for 3D pointcloud map and 2D costmap i am trying to use Rtabmap but i am unable to export the pcd file as this error comes up

Could create clouds for 59 node(s). You may want to activate clouds regeneration option.

and after i use the regeneration option it comes up

(Could not create clouds for 59 node(s). The cache may not contain point cloud data. Try re-downloading the map.)

and even after re-downloading the map i am unable to do this.

and the 2D costmap download option is greyed out and i am unable to even export it

any help would be appreciated thank you