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I think you are supposed to some dependencies for RGB-D SLAM with realsense. Let follows below commands

$ sudo apt-get install ros-indigo-openni2-camera ros-indigo-openni2-launch
$ sudo apt-get install ros-indigo-depthimage-to-laserscan

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
$ roslaunch turtlebot3_bringup turtlebot3_realsense.launch
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
$ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw_output_frame_id:=/base_scan

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