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I was able to run ros rtabmap on a bag of rgb and depth images.

The solution was to follow the guidelines in here.

I also had to run static_transform_publisher and produce the following static transformations:

• camera_link camera_depth_frame
• camera_link camera_rgb_frame
• camera_depth_frame camera_depth_optical_frame
• camera_rgb_frame camera_rgb_optical_frame
• base_link camera_link
• base_link base_scan
• world map