RTABMAP problems with Turtlebot2 [closed]

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Does RTABMAP require a kinect camera? My turtlebot2 has different model of camera. I installed the ROS kinetic version of rtabmap-ros. I am trying to follow the instructions from the rtab-map ROS wiki. I put in the following command for mapping in RVIZ:

roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false

I get this as a result:

process[rtabmap/rtabmap-1]: started with pid [5055]
process[rviz-2]: started with pid [5056]
process[points_xyzrgb-3]: started with pid [5057]
QXcbConnection: Could not connect to display 
[ INFO] [1647482776.248565386]: Starting node...
[ INFO] [1647482776.417708363]: Initializing nodelet with 4 worker threads.
[ INFO] [1647482776.777906091]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1647482776.777977848]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1647482776.778018951]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1647482776.778057888]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1647482776.778099100]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1647482776.778137790]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1647482776.778180610]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1647482776.778220574]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1647482776.802018001]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1647482776.845843450]: rtabmap: frame_id      = base_footprint
[ INFO] [1647482776.845905574]: rtabmap: odom_frame_id = odom
[ INFO] [1647482776.845962735]: rtabmap: map_frame_id  = map
[ INFO] [1647482776.846005998]: rtabmap: use_action_for_goal  = false
[ INFO] [1647482776.846056815]: rtabmap: tf_delay      = 0.050000
[ INFO] [1647482776.846102556]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1647482776.846145424]: rtabmap: odom_sensor_sync   = false
[ INFO] [1647482776.847155235]: rtabmap: gen_scan  = false
[ INFO] [1647482776.847199478]: rtabmap: gen_depth  = false
[ INFO] [1647482777.005215514]: Setting RTAB-Map parameter "Grid/FromDepth"="false"
[ INFO] [1647482777.095074314]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2"
[ INFO] [1647482777.107023110]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.05"
[ INFO] [1647482777.127037131]: Setting RTAB-Map parameter "Icp/PointToPlane"="false"
[ INFO] [1647482777.150835779]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.05"
[ INFO] [1647482777.293845616]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1647482777.294775076]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1647482777.334131948]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ INFO] [1647482777.439849005]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[ INFO] [1647482777.459867701]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1647482777.463624132]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1647482777.464586942]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="4"
[ INFO] [1647482777.476480904]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1647482777.477365421]: Setting RTAB-Map parameter "RGBD/ProximityByTime"="false"
[ INFO] [1647482777.489614859]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10"
[ INFO] [1647482777.498687861]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1647482777.502359325]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1647482777.779966849]: Setting RTAB-Map parameter "Vis/MinInliers"="12"
[ WARN] [1647482777.861114501]: Rtabmap: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[rviz-2] process has died [pid 5056, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/turtlebot/catkin_ws/src/rtabmap_ros/launch/config/demo_robot_mapping.rviz __name:=rviz __log:=/home/turtlebot/.ros/log/fd7c7f06-a594-11ec-97d5-a0510b03a27d/rviz-2.log].
log file: /home/turtlebot/.ros/log/fd7c7f06-a594-11ec-97d5-a0510b03a27d/rviz-2*.log
[ INFO] [1647482778.236528887]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/FromDepth is false.
[ INFO] [1647482778.238815186]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1647482778.239261842 ...