How to construct the dense map using D435i in ROS?

[sirackerman]

Hello, I'm using a ROS wrapper to run this dense map version of orbslam3. I'm able to construct the dense map when I run tum rgbd examples with orbslam3 as a standalone library. However when I use the ROS wrapper which is linked to orbslam3, the algorithm run normally, the pcl viewer window open but the dense map isn't constructed during the process. Any guidance of solution path would be appreciated. Thanks!