I'd like to create 2D or 3D map in RVIZ using Kinect v1.

I have Kinect v1 connect to Raspberry Pi2 (ubuntu 14.04, ROS indigo). And Ubuntu 14.04 local machine.

ROS_XXXs are all set correctly.

On raspberry:

roscore

roslaunch freenect_launch freenect.launch

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

On local machine:

rosrun gmapping slam_gmapping scan:=base_scan

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map camera_link 10

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

now I can get real time info in Rviz, but no map received. How can I save the map when I move Kinect? Did I miss something??