I'm trying to implement rtabmap with a realsense d435i attached to the endeffector of a robot arm (interbotix vx300s). The problem I have is that rtabmap is not building the map but just showing the current point cloud collected from the camera. However, I can see yellow odometry points still stay on the map, so it does seem to be doing something right. I don't really know which parameters to configure for rtabmap. Here is my launch file to start mapping. I first connect the camera frame to the endeffector frame, run the camera, then run rtabmap where I set the frame_id to be the base_link of the arm. I have another launch file I run beforehand to run the robot arm. Do I need to modify things like odometry or odom_frame_id? Also, in Rviz, running rtabmap messes with the tf of the whole arm and camera.