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Occupancy grid map from zed stereo camera

I am trying to create 2d Occupancy grid from zed stereo camera .I referred this tutorial http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping for doing so.But I am unable recreate it since here its given from bumblebee2 stereo camera to OGM.Also it subscribe to these topics: 1]/stereo_camera/left/image_raw_throttle/compressed 2]/stereo_camera/right/image_raw_throttle/compressed 3]/stereo_camera/left/camera_info_throttle 4]/stereo_camera/right/camera_info_throttle 5]/tf

which i dont know how to publish or record using bag file from standalone stereo camera. Please suggest me how to implement this or any other way to implement the problem statement.I request you guys to give detailed procedure since I am novice to ROS and robotics

Thanks in advance