Rtabmap problem with octomap

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Hello, I have a problem when running rtabmap SLAM algorithm in my real turtlebot. Specifically, when I visualize octomap in rviz, the map seems to have a limit at the top of the room. I suppose that it shows the room’s ceiling but it could also be sensor’s noise. I use: Turtlebot 2 with Ubuntu 16.04 and ROS kinetic, my camera is Asus Xtion Pro and my computer has Ubuntu 16.04 and ROS kinetic.

Firstly, how could I understand if this limit in octomap is room’s ceiling or sensor’s noise and furthermore how can I throw these nodes in octomap in order to see room’s details?

The launcher I use to run rtabmap is:

<launch>

     <arg name="database_path"     default="rtabmap.db"/>
     <arg name="rgbd_odometry"     default="false"/>
     <arg name="rtabmapviz"        default="false"/>
     <arg name="localization"      default="false"/>
     <arg name="simulation"        default="false"/>
     <arg name="sw_registered"     default="false"/>
     <arg     if="$(arg localization)" name="args"  default=""/>
     <arg unless="$(arg localization)" name="args"  default="--delete_db_on_start"/>

    <arg     if="$(arg simulation)" name="rgb_topic"   default="/camera/rgb/image_raw"/>
    <arg unless="$(arg simulation)" name="rgb_topic"   default="/camera/rgb/image_rect_color"/>
    <arg     if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
    <arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
    <arg name="camera_info_topic" default="/camera/rgb/camera_info"/>

    <arg name="wait_for_transform"  default="0.2"/>

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="subscribe_depth"     type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="false"/>
      <param name="map_negative_poses_ignored" type="bool" value="true"/>

      <!-- inputs -->
      <remap from="scan"            to="/scan"/>
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>

      <!-- output -->
      <remap from="grid_map" to="/map"/>

      <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  <!-- Set to false to generate map correction between /map and /odom -->
      <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
      <param name="Reg/Strategy"                 type="string" value="2"/>      <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
      <param name="Icp/CorrespondenceRatio"      type="string" value="0.3"/>
      <param name="Vis/MinInliers"               type="string" value="15"/>      <!-- 3D visual words minimum inliers to accept loop closure -->
      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    <!-- 3D visual words correspondence distance -->
      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
      <param name="Rtabmap/TimeThr"              type="string" value="700"/>
      <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
      <param name ...