RTABMAP not working with Kinect+Odometry

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Hi,

I am trying to use RTAB-MAP with an AGV with a kinnects (Xtion asus pro live) added on top. The system have two computers: 1- (roscore) AGV computer (publishing the odometry, laser scanner, etc..). 2- (where I am running RTAB-map) Computer with kinect.

However, when I launch rtabmap (kinect+odometry), nothing appears. (launching only the kinect works fine).

This is my roslaunch file (including static_tf from base_link to camera_link which is not provided by the AGV):

<launch>
    <!-- TF static transform base_link to camera_link -->
    <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 1.5 0 0 0 /base_link /camera_link 100" />


    <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"/>
        <param name="subscribe_depth" type="bool" value="true"/>

        <remap from="odom" to="/odom_comb"/>
        <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
        <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
        <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

        <param name="queue_size" type="int" value="10"/>

        <!-- RTAB-Map's parameters -->


        <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
        <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
        <param name="Rtabmap/TimeThr" type="string" value="700"/>
        <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
        <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>

    </node>
    </group>


    <!-- Visualisation RTAB-Map -->
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz"  output="screen">
        <param name="subscribe_depth"     type="bool"   value="true"/>
        <param name="subscribe_laserScan"      type="bool"   value="false"/>
        <param name="subscribe_odom_info" type="bool"   value="false"/>
        <param name="frame_id"            type="string" value="base_link"/>

        <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
        <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
        <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

    </node>

</launch>

I suspect that the problem is on the TF tree due to publishing transforms from 2 different computers. The tf tree (without unning RTABMAP) can be seen here: agv+static_pub+rtabmap (I cannot attach pictures due to not having enough points on this forum).

Also, the output from roswtf is:

WARNING The following node subscriptions are unconnected: 
    * /SerialProxy:
    * /serial0_rx
    * /web_map_generator:
    * /move_base_node/local_costmap/inflated_obstacles
 * /supervisor:
   * /move_base_node/MIRPlannerROS/len_to_goal
 * /rtabmap/rtabmap:
   * /tf_static
   * /rtabmap/move_base/feedback
   * /rtabmap/move_base/status
   * /rtabmap/goal
   * /rtabmap/goal_node
   * /rtabmap/move_base/result
 * /mirEventTrigger:
   * /event_cmd
 * /rtabmapviz:
   * /goal_reached
   * /goal_node
   * /odom
   * /mapData
   * /tf_static
   * /global_path
   * /info
WARNING The following nodes are unexpectedly connected:
 * /laser_back/driver->/roswtf_12815_1452249335691 (/tf)
 * /mirSound->/bridge (/rosout)
 * /laser_front/driver->/roswtf_12815_1452249335691 (/tf)
 * unknown (http://192.168.12.20:40313/)->/mirSound (/mir_sound)
 * unknown (http://192.168.12.20:50779/)->/mirSound (/mir_sound)
 * /bridge->/bridge (/rosout)
 * unknown (http://192.168.12.20:59477/)->/mirSound (/mir_sound)
 * /bridge_api->/bridge (/rosout)
 * /rtabmap/rtabmap->/roswtf_12815_1452249335691 (/tf)
WARNING These nodes have died:
 * mir_param_publisher-1
WARNING Received out-of-date/future transforms:
 * receiving transform from [/StateTF] that differed from ROS time by 28611.7888631s
 * receiving transform from [/transform_footprint] that differed from ROS time by 28611.7991738s
 * receiving transform from [/laser_back/transform] that differed from ROS time by 28611.7992606s
 * receiving transform from [/transform_imu] that differed from ROS time by 28611.7991301s
 * receiving transform from [/mir_amcl] that differed from ROS time by 28611.984325s
 * receiving ...