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You can look at the Turtlebot demo on RTAB-Map's forum. There is an option to use it without the robot (generating odometry from the Kinect). It simulates a laser scan and visual odometry is constraint to 2D. This demo is compatible with the turtlebot navigation tutorials on ROS:

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch rgbd_odometry:=true args="--delete_db_on_start"
$ rosrun rviz rviz -d turtlebot_navigation.rviz

In this demo, you will get a 2D map from the assembled laser scans. To visualize the projection map (3D cloud to 2D map), select in RVIZ under the map object, the rtabmap/proj_map topic. In the launch the file, you can set

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
    ...    
    <param name="proj_max_height" type="double" value="2.0"/>
</node>

under rtabmap node to set the maximum height of the cloud used for projection (default 2 meters).

You can look at the Turtlebot demo on RTAB-Map's forum. There is an option to use it without the robot (generating odometry from the Kinect). It simulates a laser scan and visual odometry is constraint to 2D. This demo is compatible with the turtlebot navigation tutorials on ROS:

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch rgbd_odometry:=true args="--delete_db_on_start"
$ rosrun rviz rviz -d turtlebot_navigation.rviz

In this demo, you will get a 2D map from the assembled laser scans. To visualize the projection map (3D cloud to 2D map), select in RVIZ under the map object, the rtabmap/proj_map topic. In the launch the file, you can set

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
    ...    
    <param name="proj_max_height" type="double" value="2.0"/>
</node>

under rtabmap node to set the maximum height of the cloud used for projection (default 2 meters).