RTAB-Map doesn't create map

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Hi, I have setup like this : robot with 3D Lidar (Livox Mid 70) and Realsense D435 camera. I want to use RTAB-Map to build map of indoor environment. First I wanted to do combine data from lidar and camera but I can't get it to generate the map, without this static_transform_publisher, there no map frame in tf tree and when I try to run rostpic echo /mapData for example, nothing is being published. What am I doing wrong? Here is my launch file and rviz visualisation of that.

<!-- -->
<launch>
  <param name="robot_description" textfile="$(find bbot_description)/urdf/bbot.urdf" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
        <param name="publish_frequency" type="double" value="10.0" />
          <param name="rate" value="10.0"/>
  </node>

  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
        <param name="use_gui" value="false"/>
        <param name="rate" value="10.0"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="odom2map" args="0 0 0 0 0 0 map odom 10" />
  <arg name="depth"  default="true"/>
  <arg name="rviz"                    default="true" />
  <arg name="localization"            default="false"/>

  <param name="use_sim_time" type="bool" value="true"/>
  <arg name="cfg"                     default="" />
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
  <arg name="frame_id"                default="base_link"/>
  <arg name="odom_frame_id"           default="odom"/>
  <arg name="map_frame_id"            default="map"/>
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="queue_size"              default="100"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="output"                  default="screen"/>
  <arg name="publish_tf_map"          default="true"/>
  <arg name="approx_sync"             default="false"/>  

  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/realsense_left/color/image_raw" />
  <arg name="depth_topic"             default="/realsense_left/aligned_depth_to_color/image_raw" />
  <arg name="camera_info_topic"       default="/realsense_left/color/camera_info" />
  <arg name="depth_camera_info_topic" default="/realsense_left/aligned_depth_to_color/camera_info" />

  <arg name="subscribe_rgb"  default="false"/>
  <arg name="subscribe_depth" default="false"/>

  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="true"/>
  <arg name="approx_rgbd_sync"        default="false"/>
  <arg name="subscribe_rgbd"          default="true"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />

  <arg name="compressed"              default="false"/>
  <arg name="rgb_image_transport"     default="compressed"/>
  <arg name="depth_image_transport"   default="compressedDepth"/>

  <arg name="subscribe_scan"          default="false"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="true"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> 

  <arg name="visual_odometry"          default="true"/>
  <arg name="icp_odometry"             default="false"/>
  <arg name="odom_topic"               default="odom"/>
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/>
  <arg name="publish_tf_odom"          default="true"/>
  <arg name="odom_tf_angular_variance" default="0.001"/>
  <arg name="odom_tf_linear_variance"  default="0.001"/>
  <arg name="odom_args ...