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Hi @Kazu -- Welcome to the Atlassian Community!
If I understand your question, the answer is no: you cannot see both a board and roadmap on the same view with out-of-the-box Jira features.
There are marketplace addon gadgets which can display those together on a dashboard, however they probably will not have the same built-in features.
What problem are you trying to solve by showing those on one view? Roadmaps typically show a higher-level view of issues, based on planning timeframes and boards show the detail-level view for daily delivery of value.
I am creating a kanban board like this.There are my roadmap and kanban board.
The kanbanboard has some epics and tasks. and the roadmap defined these epics and tasks. So, when I seleced the roadmap on the board, I'd like to see these episc and task I defined on the roadmap