In a new tab paste

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

That should connect the 2 devices.

Next, in another tab paste:
"rosrun teleop_twist_keyboard teleop_twist_keyboard.py"

Now you should be able to move your robot around.

In a new tab paste:
"rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map my_frame 100"

Now, in yet another tab type "rosrun launcher.launch" using the file I've put in this project. It should allow you to get the image from the camera and the map from the lidar. Just change the fixed frame to map in rviz and add the map to the displayed data.