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I'm having the same installation on PC ROS noetic. My last step is to lock rtabmap to the realsense witch is on my robot (Jetson nano - Ros melodic).
I can use the images, depthclouds and the topics of rtapmap come up in RVIZ. only when selecting them i loose the image. So i think this is a small step. i'll be sure to follow and get back to it when more experienced.