While we so technically support mapping using stereo we almost always use the tof sensor ourselves since it's much more accurate at higher resolutions. The default for our voxl-mapper project uses the tof sensor for mapping with option to enable stereo if that's what you want to use. We generally just use stereo for collision prevention since it's pretty reliable at detecting if something is in front of it or not but can struggle to populate a detailed full-fov image in realtime.