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Can you show which parameters are used for the rtabmap node (example launch file)? The parameter "RGBD/PoseScanMatching" can be set to true for odometry correction with laser scans like in the Robot mapping demo (which may correct the yaw).

The laser_scan_matcher seems also a good solution. RTAB-Map doesn't use twist information, you could just convert the geometry_msgs/Pose2D into a nav_msgs/Odometry message by filling the "pose" field (you can set the covariance matrix to null) as well as the header with corresponding TF frames and timestamp.