rtabmap Tutorial. Odometry Died On Startup. (Noetic, Xtion, U20.04, Beginner)

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Brief Introduction — I'm learning ROS for the third time in my life: first Groovy, then Jade. At first I tried Foxy but I didn't see any obvious way to get mapping with an Xtion. Now I'm attempting to get rtabmap working with Noetic. Although I've used ROS in several projects, I'd still classify myself as a beginner. I'm mostly interested in the practical result of a point cloud, so if there are other SLAM packages comparable to rtabmap, I'd be willing to try them. I've been stuck here for hours, any help will be greatly appreciated.

My Problem — At the moment I'm following the rtabmap_ros tutorial "RGB-D Handheld Mapping" with an Xtion Pro. I am given this error after initializing but before the GUI appears.

[ INFO] [1599872946.228008583]: Setup depth callback [rtabmap/rgbd_odometry-1]

process has died [pid 6785, exit code -6, cmd /opt/ros/noetic/lib/rtabmap_ros/rgbd_odometry rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image_relay odom:=/odom imu:=/imu/data __name:=rgbd_odometry __log:=/home/aug/.ros/log/d90a0fe6-f490-11ea-a0cb-6b5fc5d13082/rtabmap-rgbd_odometry-1.log]. log file: /home/aug/.ros/log/d90a0fe6-f490-11ea-a0cb-6b5fc5d13082/rtabmap-rgbd_odometry-1*.log

The GUI then appears but nothing happens. The previously launched openni2 terminal then seems to properly stream data out.

[ INFO] [1599871743.342685883]: Starting color stream.

[ INFO] [1599871743.409124586]: Starting depth stream.

[ INFO] [1599871743.766569060]: using default calibration URL

[ INFO] [1599871743.766710232]: camera calibration URL: file:///home/aug/.ros/camera_info/rgb_PS1080_PrimeSense.yaml

[ INFO] [1599871743.885914291]: using default calibration URL

[ INFO] [1599871743.886016169]: camera calibration URL: file:///home/aug/.ros/camera_info/depth_PS1080_PrimeSense.yaml

This is followed by a constant stream of these two warnings from the rtabmap terminal.

[ WARN] [1599872971.264661933]: /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=10). /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom_info

[ WARN] [1599872951.263666547]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published etc...

Troubleshooting — Started with with trying to trigger a new map or reset the odometry. I do not know why odometry seems to be failing, there is no robot to get odometry from.

• Next I went to look for the log file, but I saw no files named "rtabmap-rgbd_odometry-1*.log"
• Then I checked the topics and everything seemed to be there and correct. *Topics listed bellow...
• To verify the sensor was indeed working I ran rqt. The RGB and Depth video feeds were visible, so that's good.
• Then I checked the forums for some advice, and discovered that building rtabmap from binaries tends to fix some issues. So I tried this but the result is ...