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Issue solved! Please refer to https://github.com/introlab/rtabmap_ros/issues/147

There were two problems when setting the Astra Pro, Ubuntu 16.04, ROS Kinetic with RTABmap:

1. There was no default RGB calibration file. Simply run the monocular calibration procedure (http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration ; requires a checkerboard) and obtain a .yaml file. Then edit this .yaml file to match with the camera_name(head_camera by default), and place it inside the $ROS_HOME/camera_info folder.
2. Since Astra Pro did not seem to have direct access to the RGB camera on the Astra SDK, I used the usb_cam package to access the data (https://github.com/bosch-ros-pkg/usb_cam) However, usb_cam uses by default the name "head_camera" for the frame_id and camera_name. Simply change the frame_id to "camera_rgb_optical_frame", and remake the package.

Cheers!