Is there RGB-D sync? (Melodic)

edit

Just wanted to ask if someone can explain to me if is there the RGB-D sync in this code got from the file: demo_turtlebot3_navigation.launch from the package rtabmap. Then if someone is interested to what robot I want to apply this I will be very grateful to show it, 'cause even that has got problems.

Sorry for the edit, but I just did a great mistake to what file to attach :)

<launch>
  <!--
    $ sudo apt install ros-melodic-turtlebot3* ros-melodic-dwa-local-planner
    To avoid TF warning about leading '/' in frame name, remove it in:
       - "/opt/ros/melodic/share/turtlebot3_navigation/param/global_costmap_params.yaml"
       - "/opt/ros/melodic/share/turtlebot3_navigation/param/local_costmap_params.yaml"

    Example Gazebo:
    $ export TURTLEBOT3_MODEL=waffle
    $ roslaunch turtlebot3_gazebo turtlebot3_world.launch

    $ export TURTLEBOT3_MODEL=waffle
    $ roslaunch rtabmap_ros demo_turtlebot3_navigation.launch
  -->

  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="open_rviz" default="true"/>
  <arg name="rtabmapviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  <arg name="with_camera" default="true"/>
  <arg name="localization" default="false"/>
  <arg name="database_path" default="~/.ros/rtabmap.db"/>
  <arg     if="$(arg localization)" name="rtabmap_args" default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args" default="-d"/>

  <!-- Turtlebot3 -->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
    <arg name="model" value="$(arg model)" />
  </include>

  <group ns="rtabmap">
    <node if="$(eval model=='waffle')" pkg="rtabmap_ros" type="rgbd_sync" name="rgbd_sync" output="screen">
      <remap from="rgb/image"         to="/camera/rgb/image_raw"/>
      <remap from="depth/image"       to="/camera/depth/image_raw"/>
      <remap from="rgb/camera_info"   to="/camera/rgb/camera_info"/>
    </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="subscribe_rgb"   type="bool" value="false"/>
      <param name="subscribe_depth" type="bool" value="false"/>
      <param     if="$(eval model=='waffle')" name="subscribe_rgbd" type="bool" value="true"/>
      <param unless="$(eval model=='waffle')" name="subscribe_rgbd" type="bool" value="false"/>
      <param name="subscribe_scan"      type="bool"   value="true"/>
      <param name="approx_sync"         type="bool"   value="true"/>

      <!-- use actionlib to send goals to move_base --> 
      <param name="use_action_for_goal" type="bool" value="true"/>
      <remap from="move_base"            to="/move_base"/>

      <!-- inputs -->
      <remap from="scan"            to="/scan"/>
      <remap from="odom"            to="/odom"/>
      <remap from="rgbd_image"       to="rgbd_image"/>

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

      <!-- RTAB-Map's parameters -->
      <param name="Reg/Strategy"                 type="string" value="1"/>
      <param name="Reg/Force3DoF"                type="string" value="true"/>
      <param name="GridGlobal/MinSize"           type="string" value="20"/>

      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
    </node>

    <!-- visualization with rtabmapviz -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <param name="subscribe_scan"   type="bool"   value="true"/>
      <param name="subscribe_odom ...