Error when run rtabmap_ros on Nao robot

[Robin-Wu]

Oh! Thank you !
I will try it
Your,
Robin

[Robin-Wu]

I have some problems when my robot navigation . I have already write the move_base according to the
stereo's in the tutorials,but when  I launch it ，the terminal shows that :
[ WARN] [1542375494.529940473]: The openni_points observation buffer has not b
een updated for 54.05 seconds, and it should be updated every 0.50 seconds.
[ WARN] [1542375494.782229231]: /proj_map topic is deprecated! Subscribe to /g
rid_map topic instead.
and this is my amcl.launch
and I think it is caused by the local_costmap_params.yaml
and my file is :
local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 2.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.025
  origin_x: -2.0
  origin_y: -2.0

  observation_sources: point_cloud_sensor

  # assuming receiving a cloud from rtabmap_ros/obstacles_detection node
  point_cloud_sensor: {
    sensor_frame: base_footprint,
    data_type: PointCloud2,
    topic: openni_points,
    expected_update_rate: 0.5,
    marking: true,
    clearing: true,
    min_obstacle_height: -99999.0,
    max_obstacle_height: 99999.0}
and the last problem is my robot can not set the
Initial Pose in  rviz ,I do not know how to do it.
Thank you sooo much for your help,and I'm very sorry for my silly questions.
Yours,
Robin.