RtabMap not publishing to map topic when subscribed to velodyne lidar data

[emileSavoie]

I am currently trying to go from simulating my robot in a gazebo environment to the real world and am having issues in using the velodyne ros package to feed its data into rtabmap. If I just replace the topic of the simulated lidar with the topic of the real one, I get no data published on the /map data from rtabmap and it cannot then form a costmap

[matlabbe]

What is the rtabmap config you used in simulation? Are there warnings/errors on the terminal? The scan topic is correctly connected to rtabmap node and is actually published?