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The camera is looking up. There is a missing optical rotation that could be fixed by rotating the base frame of the camera:

<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="$(arg optical_rotate) base_link stereo_camera 100" />

Then make sure to set frame_id parameter of rtabmap to base_link (or whatever is your robot base frame).

cheers,
Mathieu