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The problem is that there is a missing optical rotation. rtabmap thinks the camera is looking up.

The frame_id is set to camera_link. I don't know if it is on a robot or it is a single camera in simulation, for a robot, you may add in the URDF the optical rotation. Otherwise if camera_link is your only frame, in ros1 we would add a static transform publisher:

<node pkg="tf" type="static_transform_publisher" name="camera_optical_rotation"
        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 base_link camera_link 100" />

Then use frame_id set to base_link for rtabmap node.

The problem is that there is a missing optical rotation. rtabmap thinks the camera is looking up.

The frame_id is set to camera_link. I don't know if it is on a robot or it is a single camera in simulation, for a robot, you may add in the URDF the optical rotation. Otherwise if camera_link is your only frame, in ros1 we would add a static transform publisher:publisher in the launch file like this:

<node pkg="tf" type="static_transform_publisher" name="camera_optical_rotation"
        args="0 0 0 -1.5707963267948966 0 -1.5707963267948966 base_link camera_link 100" />

Then use frame_id set to base_link for rtabmap node.