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What is the precision of the orbbec after 3-4 meters? If it is similar to Kinect, the odometry may think that the camera is translating instead of rotating. You can try the PnP transform estimation to be more robust to far noisy features:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start --Vis/EstimationType 1"