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See https://github.com/IntelRealSense/realsense-ros/issues/1078#issuecomment-586669208 for solution.

Quote for posterity:

Hi @RealSenseCustomerSupport

thank you for those threads. The occupancy mapping was a great starting point. Once I got that working, I went back to playing around with rs_rtabmap.launch. I then disabled re-localization of the T265:
<rosparam>
        /t265/tracking_module/enable_relocalization: false
</rosparam>
Next I set subscribe_odom_info to false as per this thread in rtabmap.launch at several places: here and here. This change requires restarting the roscore.

When I launch rtabmap via roslaunch realsense2_camera rs_rtabmap.launch I have to wait long enough for both cameras (D435 and T265) to start up. Once both cameras have started, I can finally use rtabmap to build a map. This is working great for me now.

Appreciate your help with this. Closing as solved.