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This error is coming from rtabmap. This generally happens when loading an existing corrupted database.

Follow to next instruction only if you don't care about the database created so far! Backup it if you want to keep it ($ mv ~/.ros/rtabmap.db ~/.ros/rtabmap.db.back).

You can start new with $ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" at each start or by deleting the database ~/.ros/rtabmap.db.