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From all the topics you listed, /camera/depth/image_raw
looks like it's the only candidate. First make sure that you're receiving something on that topic:
rostopic hz /camera/depth/image_raw
Then change your command to:
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_raw