Problem generating a point cloud map using the RealSense D455 camera

Hello, I previously used a 3D LiDAR to map my environment.

Now, I’m trying to use a RealSense D455 camera to map the environment. Unfortunately, this is the result I got. Even though I enabled start_mapping_enable, it did not map the area correctly.

Could you please help me? I will send you the commands I used and the results I obtained.