cloud_map from rtabmap as move_base costmap [closed]

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I want to avoid obstacles on my turtlebot3 with using only Intel d435 camera, without lidar.

I have working rtabmap and move_base.

The problem is that robot does not move towards goal, sometimes just spinning and then stops. And error message about aborting appears:

[ WARN] [1574676993.679535185]: DWA planner failed to produce path.
[ INFO] [1574676993.775538807]: Got new plan
[ WARN] [1574676993.777554463]: DWA planner failed to produce path.
[ INFO] [1574676993.875694511]: Got new plan
[ WARN] [1574676993.880166023]: DWA planner failed to produce path.
[ INFO] [1574676993.975609250]: Got new plan
[ WARN] [1574676993.978341240]: DWA planner failed to produce path.
[ WARN] [1574676994.075602772]: Clearing costmap to unstuck robot (3.000000m).
[ INFO] [1574676994.175569221]: Got new plan
[ WARN] [1574676994.178244153]: DWA planner failed to produce path.
[ WARN] [1574676994.275660344]: Rotate recovery behavior started.
[ INFO] [1574676995.301548661]: Resizing costmap to 95 X 98 at 0.050000 m/pix
[ INFO] [1574676996.216223779]: Resizing costmap to 117 X 98 at 0.050000 m/pix
[ INFO] [1574676997.149920421]: Resizing costmap to 139 X 98 at 0.050000 m/pix
[ INFO] [1574676998.061689401]: Resizing costmap to 139 X 100 at 0.050000 m/pix
[ERROR] [1574676998.776198303]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1574676998.777367733]: Got new plan
[ INFO] [1574676998.877975075]: Got new plan
[ WARN] [1574676998.880028587]: DWA planner failed to produce path.
[ WARN] [1574676998.977477659]: Clearing costmap to unstuck robot (1.840000m).
[ INFO] [1574676999.046458556]: Resizing costmap to 139 X 104 at 0.050000 m/pix
[ INFO] [1574676999.077471577]: Got new plan
[ WARN] [1574676999.080336977]: DWA planner failed to produce path.
[ WARN] [1574676999.177448790]: Rotate recovery behavior started.
[ERROR] [1574676999.178042594]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ INFO] [1574676999.277486580]: Got new plan
[ WARN] [1574676999.279305400]: DWA planner failed to produce path.
[ERROR] [1574676999.377500370]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

here is costmap_common_params.yaml:

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
#robot_radius: 0.17

inflation_radius: 0.1
cost_scaling_factor: 9.0

map_type: costmap
observation_sources: point_cloud_sensor
point_cloud_sensor: {sensor_frame: /camera_link, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}

local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

global_costmap_params.yaml:

  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: false
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

what am I doing wrong?