RTAB-Map remote mapping with RealSense T265 + D435

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Hello,

I think title of my question is self-explanatory. Of course I will provide additional info. I want to use depth map generated by D435 camera and odometry generated from T265 camera. My intention is to run realsense_ros on Jetson Nano and then run rtabmap_ros on remote computer connected via wifi.

Launch file run from Jetson Nano :

<launch>
    <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch"/>

    <arg name="rate"  default="5"/>
    <arg name="approx_sync" default="true"/>
    <arg name="rgbd_sync" default="true"/>

    <!-- Use same nodelet used by Freenect/OpenNI -->
    <group ns="camera">
    <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
      <param name="compressed_rate"  type="double" value="$(arg rate)"/>
      <param name="approx_sync"      type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image"       to="d400/color/image_raw"/>
      <remap from="depth/image"     to="d400/aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="d400/color/camera_info"/>

      <remap from="rgbd_image"      to="rgbd_image"/>
    </node>

    <node unless="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate"         type="double" value="$(arg rate)"/>
      <param name="approx_sync"  type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="d400/color/image_raw"/>
      <remap from="depth/image_in"     to="d400/aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info_in" to="d400/color/camera_info"/>

      <remap from="rgb/image_out"       to="throttled/rgb/image_rect_color"/>
      <remap from="depth/image_out"     to="throttled/depth_registered/image_raw"/>
      <remap from="rgb/camera_info_out" to="throttled/rgb/camera_info"/>
    </node>
    </group>      

</launch>

Note that I edited realsense-ros/realsense2_camera/launch/includes/nodelet.launch.xml in a way, that depth and color stream runs at 640x480@6Hz both for saving the bandwidth.

rtabmap.launch run from remote computer (not robot):

<launch>
  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->

  <!-- For stereo:=false
        Your RGB-D sensor should be already started with "depth_registration:=true".
        Examples:
           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->

  <!-- For stereo:=true
        Your camera should be calibrated and publishing rectified left and right 
        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
        Example:
           $ roslaunch rtabmap_ros bumblebee.launch -->

  <!-- Choose between depth and stereo, set both to false to do only scan -->      
  <arg   name="stereo"                      default="false"/>
  <arg     if="$(arg stereo)" name="depth"  default="false"/>
  <arg unless="$(arg stereo)" name="depth"  default="true"/>

  <!-- Choose visualization -->
  <arg name="rtabmapviz"              default="false" />
  <arg name="rviz"                    default="true" />

  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>

  <!-- sim time for convenience, if playing a rosbag -->
  <arg name="use_sim_time"            default="false"/>
  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>

  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui ...