Navigation using move_base with RGBDSLAMv2 instead of a known map

Hey, everyone, I met some trouble while trying to use **move_base** package to control my car. But the tutorials of the **move_base** package is using a known map. I think the **move_base** package can work using rgbdslamv2 instead of a known map. But I don't know how to do to connect them together. Since the source from google is mostly on laser scan, so i hope i can get some help from you. Thank you very much! Here is my config files: base_local_planner_params.yaml enter cTrajectoryPlannerROS: max_vel_x: 0.45 min_vel_x: 0.1 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 acc_lim_theta: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 holonomic_robot: true costmap_common_params.yaml obstacle_range: 2.0 raytrace_range: 3.0 #footprint: [[0, 0]] robot_radius: 0.09 inflation_radius: 0.20 observation_sources: point_cloud_sensor point_cloud_sensor: {sensor_frame: base_camera, data_type: PointCloud, topic: camera/depth_registered/points, marking: true, clearing: true} global_costmap_params.yaml global_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 5.0 publish_frequency: 5.0 static_map: false rolling_window: true local_costmap_params.yaml local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 3.0 height: 3.0 resolution: 0.02 move_base.launch How should I change the config files to navigate without a known map? If anyone of you knows a trick to use move_base without map, or sees any error in my config files, any help would be appreciated. Thank you in advance for your help! And I m using RGBDSLAMv2 with realsense r200 depth camera. If you need the information of them, I would like to share them to you.