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Hi,

rtabmap is subscribed to 5 topics:

<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

If any of these is not published, the callback won't be called. Is /base_controller/odom published?

cheers