Hi, i'm new to RTAB-Map and ros. i follow the tutorial in how to use intel realsense R200 to do rtabmap. the robot i use is turtlebot3 with intel realsense R200 with ubuntu 16.04 (amd64) ros kinetic. i already run the realsensecamera R200nodelet_rgbd.launch in the robot. the error i get are :

[ WARN] [1550466522.264005885]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz mytopic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queuesize" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/imagerectcolor, /camera/depthregistered/swregistered/imagerect, /camera/rgb/camerainfo, /scan

the display in rviz show nothing but black screen with blue green lines.

i have check the rostopic hz for each of the topic there. the results for /camera is a bit delayed like 1 - 3 no data then data received.

the launch file i use for rtabmap :

<launch>
    <group ns="rtabmap">
      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

            <param name="frame_id" type="string" value="base_link"/>

            <param name="subscribe_depth" type="bool" value="true"/>
            <param name="subscribe_scan" type="bool" value="true"/>

            <remap from="odom" to="/odom"/>
            <remap from="scan" to="/scan"/>

            <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image" to="/camera/depth_registered/sw_registered/image_rect"/>
            <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

            <param name="queue_size" type="int" value="10"/>

            <!-- rtabmap parameters -->

            <param name="RGBD/NeighborLinkRefining"  type="string" value="true"/>
            <param name="RGBD/ProximityBySpace"      type="string" value="true"/>
            <param name="RGBD/ProximityPathMaxNeighbors"         type="string" value="10"/>
            <param name="RGBD/AngularUpdate"         type="string" value="0.01"/>
            <param name="RGBD/LinearUpdate"          type="string" value="0.01"/>
            <param name="RGBD/OptimizeFromGraphEnd"  type="string" value="false"/>
            <param name="Reg/Force3DoF"              type="string" value="true"/>
            <param name="Reg/Strategy"               type="string" value="1"/>
            <param name="Vis/MinInliers"             type="string" value="5"/>
            <param name="Vis/InlierDistance"         type="string" value="0.1"/>
            <param name="Rtabmap/TimeThr"            type="string" value="700"/>
            <param name="Mem/RehearsalSimilarity"    type="string" value="0.45"/>
            <param name="Grid/FromDepth"             type="string" value="false"/>

      </node>
    </group>
</launch>