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Did you follow this tutorial?
$ roslaunch realsense2_camera rs_camera.launch align_depth:=true
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
On my system (Ubuntu 16.04 + Kinetic + rtabmap_ros binaries), it is working. Like your warning messages are saying, make sure the camera topics are published, example:
$ rostopic hz /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info
subscribed to [/camera/color/image_raw]
subscribed to [/camera/aligned_depth_to_color/image_raw]
subscribed to [/camera/color/camera_info]
topic rate min_delta max_delta std_dev window
=============================================================================================
/camera/color/image_raw 29.73 0.03322 0.03445 0.0002011 29
/camera/aligned_depth_to_color/image_raw 29.72 0.03025 0.03833 0.001109 29
/camera/color/camera_info 29.72 0.03314 0.03463 0.0002347 29