RAS Mapper does not plot the depth and velocity inside of a culvert only the overland flow. For instance, if you had a culvert crossing where the road was also being over topped, the flow and velocity you would see would be from the over topping flow.
As far as I know, for culverts inside of a 2D area RAS does not output the depths and velocities. It would be nice if they added more detailed output.
It would be a little awkward, but if you want to investigate the velocities, after you have made your 2D run:
You could create a small 1D model of the culvert and use the downstream water surface and flows to get more detailed answers. If the culvert inlet and outlet are inside of a single cell, this should be pretty straight forward. If the inlet or outlet span multiple cells, it will be a little harder to figure out the resulting water surfaces.