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According to your environment variables you are running it on ROS Jade. Is that on purpose? Might be the problem.

To see what goes wrong, please edit the launch file. Add launch-prefix="xterm -e gdb --args" to the "node" tag of rgbdslam. This starts it in the gdb debugger in an extra window. After the crash you can then type bt in that window to obtain the stack trace and post the output here.