When I roslaunch realsense2_camera rs_camera.launch I get these results:

SUMMARY
========

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: False
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: False
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: False
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: 
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [7237]
ROS_MASTER_URI=http://10.130.184.118:11311

setting /run_id to 95d5f778-c11f-11ec-a186-24418c3afd95
process[rosout-1]: started with pid [7250]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [7267]
process[camera/realsense2_camera-3]: started with pid [7268]
[ INFO] [1650510195.319638010]: Initializing nodelet with 8 worker threads.
[ INFO] [1650510195.628577712]: RealSense ROS v2.3.2
[ INFO] [1650510195.628632777]: Built with LibRealSense v2.45.0
[ INFO] [1650510195.628661667]: Running with LibRealSense v2.50.0
[ WARN] [1650510195.628691389]: ***************************************************
[ WARN] [1650510195.628713175]: ** running with a different librealsense version **
[ WARN] [1650510195.628733432]: ** than the one the wrapper was compiled with!   **
[ WARN] [1650510195.628757503]: ***************************************************
[ INFO] [1650510195.672220790]:  
[ INFO] [1650510195.678208571]: Device with serial number 035422071769 was found.

[ INFO] [1650510195.678243762]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2:1.0/video4linux/video1 was found.
[ INFO] [1650510195.678256065]: Device with name Intel RealSense D435I was found.
[ INFO] [1650510195.678824717]: Device with port number 1-2 was found.
[ INFO] [1650510195.678855335]: Device USB type: 2.1
[ WARN] [1650510195.678883866]: Device 035422071769 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1650510195.681222786]: getParameters...
[ INFO] [1650510195.768266022]: setupDevice...
[ INFO] [1650510195.768296948]: JSON file is not provided
[ INFO] [1650510195.768309721]: ROS Node Namespace: camera
[ INFO] [1650510195.768331006]: Device Name: Intel RealSense D435I
[ INFO] [1650510195.768343804]: Device Serial No: 035422071769
[ INFO] [1650510195.768360453]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2:1.0/video4linux/video1
[ INFO] [1650510195.768380239]: Device FW version: 05.12.10.00
[ INFO] [1650510195.768390816]: Device Product ID: 0x0B3A
[ INFO] [1650510195.768401678]: Enable PointCloud: Off
[ INFO] [1650510195.768414219]: Align Depth: Off
[ INFO] [1650510195.768424145]: Sync Mode: Off
[ INFO] [1650510195.768464899]: Device Sensors: 
[ INFO] [1650510195.769013509]: Stereo Module was found.
[ INFO] [1650510195.770101779]: RGB Camera was found.
[ INFO] [1650510195.770198058]: Motion Module was found.
[ INFO] [1650510195.770244966]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1650510195.770284938]: num_filters: 0
[ INFO] [1650510195.770312164]: Setting Dynamic reconfig parameters.
[ INFO] [1650510195.829552367]: Done Setting Dynamic reconfig parameters.
[ INFO] [1650510195.830083163]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1650510195.830568976]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1650510195.830593387]: setupPublishers...
[ INFO] [1650510195.833782585]: Expected frequency for depth = 15.00000
[ INFO] [1650510195.867771515]: Expected frequency for color = 15.00000
[ INFO] [1650510195.897540030]: setupStreams...
[ INFO] [1650510195.954128428]: SELECTED BASE:Depth, 0
[ INFO] [1650510195.970054846]: RealSense Node Is Up!
[ WARN] [1650510196.142404672]: 

If RealSense Node is Up atleast I know my system recognizes it, however when I roslaunch turtlebot_navigation gmapping_demo.launch I get error of

No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /home/turtlebot/catkin_ws/src/openni2_camera/openni2_camera/src/openni2_driver.cpp @ 744 : Invalid device number 1, there are 0 devices connected.

The turtlebot doesnt seem to recognize the camera or something. WHat does this error mean? does "invalid device number 1" mean that system doesnt accept realsense as a sensor to the turtlebot?Is there something I have to edit in launch file?