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Following the tutorial for kinect2_bridge, you should use this for the third step:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info rviz:=true rtabmapviz:=false

cheers

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