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If TF of the arm is available and the camera is linked to that Tf tree, you can then use TF directly to scan the area. To do so with rtabmap:

  <arg name="rgb_topic"         default="/camera/color/image_raw"/>
  <arg name="depth_topic"       default="/camera/aligned_depth_to_color/image_raw"/>
  <arg name="camera_info_topic" default="/camera/color/camera_info"/>
  <arg name="approx_sync"       default="false"/>

  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="frame_id"      type="string" value="base_link"/> <!-- base frame of the arm -->
      <param name="odom_frame_id" type="string" value="base_link"/> <!-- same as frame_id, as the base of the arm doesn't move -->
      <param name="approx_sync"   type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

      <!-- RTAB-Map's parameters -->
      <param name="Rtabmap/DetectionRate"     type="string" value="2"/>     <!-- Hz -->
      <param name="Kp/MaxFeatures"            type="string" value="-1"/>    <!-- Disable loop closure detection -->
      <param name="RGBD/ProximityBySpace"     type="string" value="false"/> <!-- Disable proximity detection -->
      <param name="RGBD/AngularUpdate"        type="string" value="0.0"/>   <!-- Always add frames -->
      <param name="RGBD/LinearUpdate"         type="string" value="0.0"/>   <!-- Always add frames -->
      <param name="Grid/VoxelSize"            type="string" value="0.05"/>