Re: processStats() Processing time (1.065403s) is over detection rate (1.000000s), real-time problem!
you may increase cell_size to reduce processing time, what is your computer?
Also, I suggest to tear down those launch files. The husky launch file was an example to compare different setups with the husky simulator. If you know which setup you want to use, keep only stuff and arguments related, to have a clean launch file. It is difficult to see what you changed or not. Original rtabmap.launch would have to be included as is, or you will have to use the nodes directly like in the examples on this page: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot.