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Cannot reproduce the problem (Indigo binaries, version 0.11.8):
$ roslaunch rtabmap_ros demo_robot_mapping.launch
$ rosbag play --clock demo_mapping.bag
If you launch with RVIZ, do you see something?
$ roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false
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