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Hi,

if you are using only visual odometry, I suggest to use the node directly than using rtabmap.launch:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
  <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
  <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
  <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
  <param name="frame_id"    type="string" value="camera_link"/>
  <param name="publish_tf"  type="bool"   value="false"/>
</node>

With publish_tf set to false, TF will not be published.

cheers,
Mathieu