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I cannot reproduce the problem on my system with binary version (same as you) or with source. It should not subscribe to /rtabmap/odom_info, not sure why on your system it is, unless a previous launch of rtabmap.launch was done without any parameters, so that subscribe_odom_info would have been set to true, then on restarting rtabmap.launch with the tango parameters, subscribe_odom_info was still to true. Try to restart the roscore and try again. If it was the problem, the current version from source already clear all parameters on exit to avoid those kind of problems. Otherwise, you would have to explicitly set all subscribe_odom_info parameters to false in rtabmap.launch.
cheers,
Mathieu
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