The in-plane thermal conductivity of iron-based superconductor RbFe$_2$As$_2$ single crystal ($T_c approx$ 2.1 K) was measured down to 100 mK. In zero field, the observation of a significant residual linear term $kappa_0/T$ = 0.65 mW K$^{-2}$ cm$^{-1}$ provides clear evidence for nodal superdonducting gap. The field dependence of $kappa_0/T$ is similar to that of its sister compound CsFe$_2$As$_2$ with comparable residual resistivity $rho_0$, and lies between the dirty and clean KFe$_2$As$_2$. These results suggest that the (K,Rb,Cs)Fe$_2$As$_2$ serial superconductors have a common nodal gap structure.
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