Intel realsense d435i - ros - rtabmap, slam gets lost if camera is moved slightly faster

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Hi, after some tests I have found what it seems a pretty stable version of the system. The key is to use the two IR of the d435i separately and hence, use rtabmap with IR configuration instead of depth one. Overall the opensource_tracking.launch file looks like this:

<launch>
<arg name="offline"          default="false"/>
<include unless="$(arg offline)" 
    file="$(find realsense2_camera)/launch/rs_camera.launch">
    <arg name="align_depth" value="true"/>
    <arg name="linear_accel_cov" value="1.0"/>
    <arg name="enable_gyro" value="true"/>
    <arg name="enable_accel" value="true"/>
    <arg name="unite_imu_method" value="linear_interpolation"/>
    <arg name="enable_infra1" value="true"/>
    <arg name="enable_infra2" value="true"/>
</include>

<node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
    <param name="use_mag" type="bool" value="false" />
    <param name="_publish_tf" type="bool" value="false" />
    <param name="_world_frame" type="string" value="enu" />
    <remap from="/imu/data_raw" to="/camera/imu"/>
</node>


<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="args" value="--delete_db_on_start"/>
    <!--arg name="rgb_topic" value="/camera/color/image_raw"/-->
    <!--arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw"/-->
    <!--arg name="camera_info_topic" value="/camera/color/camera_info"/-->
    <!--arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/-->
    <arg name="rtabmapviz" value="false"/>
    <arg name="rviz" value="true"/>
    <arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
    <arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
    <arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
    <arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
    <arg name="stereo" value="true"/>
</include>

<include file="$(find robot_localization)/launch/ukf_template.launch"/>
<param name="/ukf_se/frequency" value="300"/>
<param name="/ukf_se/base_link_frame" value="camera_link"/>
<param name="/ukf_se/odom0" value="rtabmap/odom"/>
<rosparam param="/ukf_se/odom0_config">[true,true,true,
                                        true,true,true,
                                        true,true,true,
                                        true,true,true,
                                        true,true,true]
</rosparam>
<param name="/ukf_se/odom0_relative" value="true"/>
<param name="/ukf_se/odom0_pose_rejection_threshold" value="10000000"/>
<param name="/ukf_se/odom0_twist_rejection_threshold" value="10000000"/>

<param name="/ukf_se/imu0" value="/imu/data"/>
<rosparam param="/ukf_se/imu0_config">[false, false, false,
                                       true,  true,  true,
                                       true,  true,  true,
                                       true,  true,  true,
                                       true,  true,  true]
</rosparam>
<param name="/ukf_se/imu0_differential" value="true"/>
<param name="/ukf_se/imu0_relative" value="false"/>
<param name="/ukf_se/use_control" value="false"/>
<!-- <param name="/ukf_se/odom0_config" value="{true,true,true,}"/> -->
</launch>