How to use it on my own robot

[kanhw]

Thanks for your efforts.
I saw #7 and modified my launch file and yaml file, nothing is displayed in rviz after running.
my launch:
arg name="robot_id" default="0"/
arg name="robot_name" default="go2"/
arg name="camera_topic" default="/$(arg robot_name)/camera/depth/image_raw"/
arg name="lidar_topic" default="/$(arg robot_name)/velodyne_points"/

node pkg="elevation_mapping" type="elevation_mapping" name="elevation_mapping_$(arg robot_id)" output="screen"
rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/simple_demo_robot.yaml"
rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml"
rosparam command="load" file="$(find elevation_mapping)/config/sensor_processors/velodyne_VLP16.yaml"
remap from="/velodyne_points" to="$(arg lidar_topic)"/>
remap from="/camera/depth/image_raw" to="$(arg camera_topic)"
node
node name="rviz" pkg="rviz" type="rviz" args="-d $(find elevation_mapping_demos)/rviz/elevation_map_visualization.rviz" /

and my yaml:
robot_id: "0"
robot_name: "go2"
map_frame_id: "/map"
sensor_frame_id: "/velodyne_base_link"
robot_base_frame_id: "/base"
track_point_frame_id: "/base"
robot_pose_cache_size: 200
robot_local_map_size: 20
track_point_x: 0.0
track_point_y: 0.0
track_point_z: 0.0
octomap_road_resolution: 0.2
octomap_obs_resolution: 0.1
map_saving_file: "./map.pcd"
submap_saving_dir: "./submaps/"
camera_params_yaml: "/home/khw/catkin_ws/src/GEM/elevation_mapping/elevation_mapping/config/sensor_processors/realsense_d435.yaml"
orthomosaic_saving_dir: "./image/"
Thank you very much for your reply

[MaverickPeter]

@kanhw Please provide the global status error information in your rviz and your terminal output.

[kanhw]

@kanhw Please provide the global status error information in your rviz and your terminal output.
Thank you very much for your reply, I want to use data from both depth camera and lidar, but currently only lidar is used. How can I add the camera data as well?