Install ROS
http://wiki.ros.org/melodic/Installation/Ubuntu
Create Catkin Workspace
http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Install RTABMAP
https://github.com/introlab/rtabmap_ros
Process for running RTAB-Mapping
$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch rtabmap_ros rtabmap.launch \rtabmap_args:="--delete_db_on_start" \depth_topic:=/camera/aligned_depth_to_color/image_raw \rgb_topic:=/camera/color/image_raw \camera_info_topic:=/camera/color/camera_info \approx_sync:=false localization:=false rviz:=true rtabmapviz:=false
Inside of a separate terminal run this command to launch the Intel Real Sense Camera
$ roslaunch realsense2_camera rs_camera.launch align_depth:=true