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You may start rviz alone and add displays you want. RTAB-Map can work with any RGB-D cameras, but you have to adjust the color/depth topic names. The launch file you used is very specific to corresponding demo rosbag and cannot be used on your robot "as is".

If you are on turtlebot2, look at this page instead: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

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