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Without modifying the robot state published by turtlebot launch file, you could add a static transform between the ground and base_footprint:

<node pkg="tf" type="static_transform_publisher" name="gound_to_base_tf" 
    args="0.0 0.0 1.0 0.0 0.0 0.0 /ground /base_footprint 100" />

You add this to demo_turtlebot_mapping.launch and change base_footprint by ground for rtabmap, rgbd_odometry and rtabmapviz nodes in the same launch file.

This way, the robot would be 1 meter over the ground, so lowering the map from 1 meter.

cheers