Rtabmap with r200 realsense camera

[lb]

Hi,

I am using ros indigo with realsense r200 camera and Kuka Youbot and I would like to perform mapping with rtabmap_ros package.

I have followed the advice from the video https://www.youtube.com/watch?v=Xc1WhmFCjcc and have created a node to resize depth image from the camera. I use opencv cv2.resize() function in order to obtain same image size for rgb and depth topics.

Then I have started those commands:
$ roslaunch realsense_camera r200_nodelet_default.launch
$ roslaunch youbot_driver_ros_interface youbot_driver.launch
$ rosrun resize_image resize_image.py h:=640 v:=480
$ rosrun tf static_transform_publisher 0.1 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100
$ roslaunch rtabmap_ros rgbd_mapping.launch rgb_topic:=/camera/color/image_raw depth_registered_topic:=/camera/depth/image_raw_resized camera_info_topic:=/camera/color/camera_info frame_id:=base_link rtabmap_args:="--delete_db_on_start" estimation:=1

There is no error when rgbd_mapping.launch is launching but a warning is coming when rtabmap is starting.

[ INFO] [1524228517.244981180]: rtabmap 0.17.0 started...
[ WARN] [1524228522.236366649]: /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=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/color/image_raw,
   /camera/depth/image_raw_resized,
   /camera/color/camera_info

I have checked the response of "rostopic hz my_topic" for each important topics:
rostopic hz /camera/color/image_raw
subscribed to [/camera/color/image_raw]
average rate: 30.079
        min: 0.032s max: 0.035s std dev: 0.00074s window: 29
average rate: 30.037
        min: 0.032s max: 0.035s std dev: 0.00066s window: 59
average rate: 30.030
        min: 0.032s max: 0.035s std dev: 0.00063s window: 89
average rate: 30.016
        min: 0.032s max: 0.035s std dev: 0.00065s window: 119

rostopic hz /camera/depth/image_raw_resized
subscribed to [/camera/depth/image_raw_resized]
average rate: 60.132
        min: 0.015s max: 0.017s std dev: 0.00032s window: 57
average rate: 60.063
        min: 0.015s max: 0.019s std dev: 0.00044s window: 117
average rate: 60.048
        min: 0.015s max: 0.019s std dev: 0.00051s window: 177
average rate: 60.030
        min: 0.013s max: 0.019s std dev: 0.00061s window: 238

rostopic hz /camera/color/camera_info
subscribed to [/camera/color/camera_info]
average rate: 30.005
        min: 0.032s max: 0.034s std dev: 0.00032s window: 29
average rate: 30.000
        min: 0.032s max: 0.034s std dev: 0.00025s window: 59
average rate: 30.005
        min: 0.032s max: 0.034s std dev: 0.00025s window: 89
average rate: 30.005
        min: 0.032s max: 0.034s std dev: 0.00026s window: 119

rostopic hz /odom
subscribed to [/odom]
average rate: 43.288
        min: 0.000s max: 0.086s std dev: 0.01931s window: 39
average rate: 42.095
        min: 0.000s max: 0.086s std dev: 0.02003s window: 80
average rate: 41.614
        min: 0.000s max: 0.086s std dev: 0.02043s window: 120
average rate: 41.412
        min: 0.000s max: 0.086s std dev: 0.02056s window: 160

The topics smeems to be published. I don't know what to do more in order to have rtabmap working in rviz. I have tried to change the frame_id with to camera_link and I have also tried to increase the queue_size value higher than the depth image topic rate but nothing had changed.

I am new with ROS so I am sorry if I do something stupid. I would really appreciate if someone has an idea and could help me.