Odometry looks running, as you can see an image in Odometry panel and that the corresponding point cloud with laser scan are shown in the 3D Map window. Loop closure detection panel should show something when rtabmap is started. Do you have any warnings on terminal from rtabmap node?
I got one warning:
"odometry: Could not get transform from camera_link to camera_rgb_optical_frame (stamp=1537143964.258749) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="Lookup would require extrapolation into the past. Requested time 1537143964.258749001 but the earliest data is at time 1537143971.068514269, when looking up transform from frame [camera_rgb_optical_frame] to frame [camera_link]. canTransform returned after 0.201885 timeout was 0.2."
But it disappeared after a while