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Most likely you are not using a robot to give rgbdslam the odometry it requires. The way SLAM works, it need some control movement which is given by the odometry. You might be able to get a visual odometry package working and link the odometry to rgbdslam if you don't have a bot, or if you do have a bot with odometry readings, they don't appear to be linked to rgbdslam (try looking at rxgraph if that's the case).