launch VINS-Mono with Realsense D435i in RTAB-Map

1. Remap topic from D435i to rtabmap
2. Feed the odometry to rtabmap

In the rqt_graph of , /vins_estimator/odometry is what rtabmap needs.

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roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false odom_topic:=/camera/imu

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References:
[1] RGB-D Handheld Mapping