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EDIT: As Ken_in_JAPAN asked in comments I'll try to tell you how I did it. I take into account that you have already compiled and launch rgbdslam package. I used gazebo_ros_multicamera plugin to generate synchronised image streams. Then I used stereo_image_proc package to generate point clouds and redirected them to the rgbdslam package.

I digged into my workspace and found launch file I used, here is a part of it:

<param name="config/topic_image_mono"              value=""/> <!--could also be color -->
<param name="config/topic_image_depth"             value=""/>
<param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->
<param name="config/camera_info_topic"             value="/front_cam/left/camera_info"/>
<param name="config/wide_topic"                    value="/front_cam/left/image_rect_color"/>
<param name="config/wide_cloud_topic"              value="/front_cam/points2"/>

I left first three params empty and used only left image for colors and cloud topic from stereo_image_proc. I think that was all required to at least start it up.

After fondling with algorithm parameters, I did not achieve any good results with rgbdslam and later used viso2_ros stereo odometry node which was able to match point clouds a lot better. At least this was the case for me.

I hope that helps at least a bit, you can ask me if something is unclear.