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Try:
$ rosrun rtabmap_ros rgbd_odometry rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image rgb/camera_info:=/camera/rgb/camera_info _frame_id:=camera_link
However, make sure the depth image topic is registered to RGB camera. Like in this tutorial:
$ roslaunch openni_launch openni.launch depth_registration:=true
$ rosrun rtabmap_ros rgbd_odometry rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info _frame_id:=camera_link
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