"No map recieved" in Rviz with RTABMap remote mapping

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Hello!

I'm trying to do 3D mapping and navigation with ROS using Raspberry Pi 3 and XBOX Kinect 360 camera on Pioneer robot and laptop as a workstation from where I will be able to visualize and send commands to RPi3. On my laptop, I am running Ubuntu 14.04 LTS 32-bit with ROS Kinetic, and on RPi3 Ubuntu Mate with ROS Kinetic also.

I had some success when launching RTABMap on RPi3, and using laptop for visualization only, but now I want to do it remotely, so for start I modified these two launch files:

https://github.com/introlab/rtabmap_r... https://github.com/introlab/rtabmap_r...

I'm providing the content of modified launch files below:

remote_robot.launch

    <launch>

    <arg name="rate"        default="25"/>
    <arg name="decimation"  default="1"/>
    <arg name="approx_sync" default="true"/>


<!--  PLATFORM SPECIFIC -->

   <!-- Base Controller -->
   <!-- Starting ROSARIA driver for motors and encoders -->
   <node pkg ="rosaria" type ="RosAria" name="RosAria">
    <param name="port" value="/dev/ttyUSB0" type="string"/>
   </node>
    <!-- Remapping -->
    <!--<remap from="/cmd_vel" to="/cmd_vel"/> -->
    <!--<remap from="/rosaria/cmd_vel" to="/cmd_vel" /> -->
    <!--<remap from="/rosaria/pose" to="/pose" /> -->


   <!-- RosAria client -->
   <!-- <include file="$(find rosaria_client)/launch/rosaria_client_launcher.launch" /> -->
   <!-- <node pkg="rosaria_client" type="interface" name="RosAria_interface" output="screen"/> -->

   <!-- TRANSFORMS -->
   <!-- static_transform_publisher x y z yaw pitch roll  frame_id   child_frame_id   period (ms) -->
   <node pkg="tf" type="static_transform_publisher" name="Pioneer3AT_tf" args="0.2 0.0 0.12 0 0 0 base_link camera_link 100" />


   <!-- SENSORS INFORMATION - Kinect driver, fakse scaner -->
   <!-- <include file="$(find pioneer_3at_nav)/myKinect.launch" /> -->
   <include file="$(find freenect_launch)/launch/freenect.launch">
      <arg name="depth_registration" value="true"/>
   </include>

  <!-- Fake laser -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
    <remap from="image"         to="/camera/depth_registered/image_raw"/>
    <remap from="camera_info"   to="/camera/depth_registered/camera_info"/>
    <!--<remap from="scan"      to="/scan"/>-->
    <param name="range_max" type="double" value="4"/>
  </node>   


  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
     <!-- <param name="rate" type="double" value="5.0"/> -->
     <!-- <param name="approx_sync" type="bool" value="true"/> -->

      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>
      <param name="approx_sync" type="bool" value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="/camera/depth_registered/camera_info"/>

      <remap from="rgb/image_out"       to="/camera/data_throttled_image"/>
      <remap from="depth/image_out"     to="/camera/data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="/camera/data_throttled_camera_info"/>
    </node>  
  </group>


   <!-- SLAM is done on client side...-->
</launch>

remote_mapping_rviz.launch

<launch>
  <arg name="rtabmap_args" default="" />    

  <!-- Remote teleop - RosAria -->
  <node pkg="rosaria_client" type="teleop" name="RosAria_interface" output="screen"/>
    <group ns="teleop">
       <remap from="~cmd_vel" to="/cmd_vel"/>
        </group>

  <!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
  <node name="odom_relay" type="relay" pkg="topic_tools" args="/odom /odom_relay"/>
  <node name="scan_relay" type="relay" pkg="topic_tools" args="/scan /scan_relay"/>
  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera ...