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rtabmap node is crashing on start without showing any log. This may be caused by different versions of the same library loaded from rtabmap's dependencies (like two shared libraries built with different Eigen version or configuration) or a problem when loading shared libraries. Can you output the cmake log of rtabmap library? You may try to limit the dependencies built with the library, like setting -DWITH_REALSENSE=OFF when building rtabmap library (rtabmap library doesn't need to be built with the sensor support if you are using the ros package for the camera).
$ cd rtabmap/build
$ cmake -DWITH_REALSENSE=OFF ..
$ make -j4
$ make install
cheers, Mathieu
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