Errors using Rtabmap and also in running gmapping and Rtabmap simultaneously.

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I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. and my launch file is rtabmap.launch.I am getting this error

    [ WARN] [1535559564.824509798]: /rtabmap/rtabmapviz: 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=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <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="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name ...