rtabmap process crashing, [rtabmap_ros with realsense ZR300]

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Hi,

I am trying to use rtabmap_ros package with realsense ZR300 camera. After roslaunch one of the rtabmap process is crashed and the GUI visualization is empty. I have build both realsense_camera and rtabmap_ros from source.

Procedure I followed:

roslaunch realsense_camera zr300_nodelet_default.launch

roslaunch rtabmap_ros rgbd_mapping.launch

I have added the screenshot of the error. Looking for suggestions to solve the error.

Thanks.

Errors:

Debug info :

rqt_graph:

roswtf:

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
ERROR: connection refused to [http://i-ssrc-ws-13:40681/]
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 4 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /rtabmap/rtabmapviz:
   * /rtabmap/info
   * /rtabmap/global_path
   * /rtabmap/mapData
   * /rtabmap/goal_reached
   * /rtabmap/goal_node
 * /rqt_gui_py_node_5161:
   * /statistics

WARNING The following nodes are unexpectedly connected:
 * /camera/nodelet_manager->/roswtf_9415_1505292273588 (/tf)

WARNING These nodes have died:
 * rtabmap/rtabmap-2

WARNING No tf messages

Found 2 error(s).

ERROR Could not contact the following nodes:
 * /rtabmap/rtabmap

ERROR Errors connecting to the following services:
 * service [/rtabmap/rtabmap/list] appears to be malfunctioning: Unable to communicate with service [/rtabmap/rtabmap/list], address [rosrpc://i-ssrc-ws-13:54771]
 * service [/rtabmap/rtabmap/load_nodelet] appears to be malfunctioning: Unable to communicate with service [/rtabmap/rtabmap/load_nodelet], address [rosrpc://i-ssrc-ws-13:54771]
 * service [/rtabmap/rtabmap/get_loggers] appears to be malfunctioning: Unable to communicate with service [/rtabmap/rtabmap/get_loggers], address [rosrpc://i-ssrc-ws-13:54771]
 * service [/rtabmap/rtabmap/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/rtabmap/rtabmap/set_logger_level], address [rosrpc://i-ssrc-ws-13:54771]
 * service [/rtabmap/rtabmap/unload_nodelet] appears to be malfunctioning: Unable to communicate with service [/rtabmap/rtabmap/unload_nodelet], address [rosrpc://i-ssrc-ws-13:54771]