I have tried many methods suggested in [Kinect + Odometry + 2D laser](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I am getting this error
[ WARN] [1535549844.214860264]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
/odom,
/camera/rgb/image_rect_color,
/camera/depth/image_rect,
/camera/depth/camera_info,
/scan
But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data)
I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using
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