rtabmap_ros with Stereo Camera launch file and build a map, not working?

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Hi

Im using two point Grey Chameleon3 mono camera set up as Master Salve and synchronized so can work as stereo camera. I have a installed ROS driver and able to publish the camera topics . Im using this ROS driver https://github.com/KumarRobotics/flea3. And

roslaunch flea3 stereo_node.launch left:=13344889 right:=14472242 for stereo camera/

then with

ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc

can rectify the stereo image , and can be seen with

rosrun image_view stereo_view stereo:=/stereo image:=image_rect_color

Then tried to use this rtabmap_ros launch file.

<launch>
  <!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
  <group ns="stereo">
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>

    <!-- Disparity to depth -->
    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
  </group>

 <!-- Rotate the camera frame. -->
  <arg name="pi/2" value="1.5707963267948966" />
  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
  <node pkg="tf" type="static_transform_publisher" name="camera_base_link"
  args="$(arg optical_rotate) base_link stereo_camera 100" />  

  <group ns="rtabmap">
    <!-- Visual SLAM -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="false"/>

      <remap from="rgb/image"       to="/stereo/left/image_rect"/>
      <remap from="rgb/camera_info" to="/stereo/left/camera_info"/>
      <remap from="depth/image"     to="/stereo/depth"/>

      <remap from="odom" to="/stereo_odometer/odometry"/>

      <param name="frame_id" type="string" value="/base_link"/>
      <param name="queue_size" type="int" value="30"/>

      <param name="Rtabmap/TimeThr" type="string" value="700"/>
      <param name="SURF/HessianThreshold" type="string" value="600"/>
      <param name="Vis/MaxDepth" type="string" value="12"/>
      <param name="Vis/MinInliers" type="string" value="10"/>
      <param name="Vis/InlierDistance" type="string" value="0.05"/>
    </node>
  </group>
</launch>

i can not see any map. I got this warnings

[ WARN] [1533288718.609296364]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=30).
/rtabmap/rtabmap subscribed to (approx sync):
   /stereo_odometer/odometry,
   /stereo/left/image_rect,
   /stereo/depth,
   /stereo/left/camera_info

So, when rostopic hz to each topic rtabmap is subscribed to I got these:

rostopic hz /stereo_camera/right/image_rect
subscribed to [/stereo_camera/right/image_rect]
average rate: 7.658
    min: 0.118s max: 0.156s std dev: 0.01260s window: 7

.......

 rostopic hz  /rtabmap/odom_info
    subscribed to [/rtabmap/odom_info]
    no new messages
    no new messages

.......

rostopic hz  /odom
subscribed to [/odom]
no new messages
no new messages
no new messages

Also I got this warnings now after change the camera name in my ROS driver. It was camera and now is stereo_camera.

[ WARN] [1533529654.855086737]: odometry: Could not get transform from base_link to /stereo_camera/left (stamp=1533529651.500643) after 3.200000 seconds ("wait_for_transform_duration"=3.200000)! Error="canTransform: source_frame stereo_camera/left does not exist.. canTransform returned after 3.21201 timeout was 3 ...