"Map Not recieved"--RTABMAP does not work

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I'm trying to use rtabmap with d435 camera with turtlebot2 following these instructions:

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

On the rviz display I get Map warning error(message: no map received) and I realize that some.

I check and see that rviz is getting image and depth information,so there is scan data being received. I get this error with roslaunch rtabmap_ros demo_turtlebot_mapping.launch:

[ WARN] [1665195508.923794717]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /scan

So I assume these two problems are related. Not sure how to fix this issue. I made sure both remote PC and turtlebot are NTP synchronized and I incresed the queue size to 60, it didnt work.