Jon, if you have a smart phone or any phone that can take pictures, and enough space to insert it on the end of a selfie stick or similar under your floor in various places, you could try using that initially instead of getting an endoscope.
If there isn't enough room in certain areas to put your phone through, no crawl space to these areas from elsewhere, joists/brick pillars/pipes/cables etc. preventing the phone from getting a panoramic view from where you do manage to insert it, and you opt for an endoscope instead and put it down directly beneath your tiled floor and see a rat there, how are you going to get it out? Even a decomposed rat is fatter than an endoscope cable, isn't it? Even if it isn't, you'd still have to physically get hold of it.
One additional query: have you eliminated the cause of the rodent infestation yet?