Using RGB-D camera only

[SubMishMar]

In the turtlebot demo, I want to use RGB-D camera only. So, I have turned off the flags for use_odometry and use_imu_data in the config file named turtlebot_depth_camera_2d.lua. But I think I have to change the following parameters in the config file https://github.com/googlecartographer/cartographer_turtlebot/blob/f26a7246f0e2774e8f9658d8178a7a77420c22e6/cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua#L21-L24

Although I went through your documentation on setting the configuration parameters, I still don't understand how to exactly make it work while using the RGB-D data only. Kindly help me to figure out this issue.