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If you have already stereo_sync publishing rgbd_image topic on the robot, don't create another rgbd_sync on remote. It seems the cause of the mixing stereo and rgbd images in the database.
rtabmap is configured with input "/odom" for odometry. rtabmap should look up only one TF, what is the frame_id set in the /odom topic? Is there another node publishing also on the same topic /odom but with different TF? If so, it is maybe why you see rtabmap looking for two different frames.
TF between your base frame and camera frame doesn't look right, the camera seems looking down (the camera cloud's ground doesn't match the floor).
cheers,
Mathieu
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