How to find compatible versions of rtabmap and rtabmap_ros?

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In general, you should git checkout the branch that corresponds to your ros release, melodic-devel in this case. That selects the code that the author thinks is best. Most git ros packages follow a naming style similar to this.

Of course, if the code author tells you branch master will work, that's an alternative too.

According to the official github page for rtabmap_ros. It's compatible with Indigo, Kinetic, Melodic, and Noetic. If you don't know what distro your ROS is currently on, simply type ros --version in the terminal. After that, you can install the package with sudo apt-get install ros-distro_name-rtabmap-ros. If your ROS isn't on either of the four distros, I would suggest you to just uninstall your current ROS version since it's quite outdated already and install either melodic or noetic since those are the most updated versions. You can also go for the latest version, Humble Hawksbill, but I am not sure if your package is supported on that distro. After installation, You can simply just type apt search ros-distro_name in the terminal and navigate to verify whether or not rtabmap and rtabmap_ros is supported for your version if you want. After you installed rtabmap_ros, you can check whether the package is installed with rospack list.

~Gundam Out.`