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Cartographer likely only uses laser scan, imu and odom, integrating RGB-D data works in principle (i.e. it's a compatible data type), but the sensor characteristics are very different from the LIDARs cartographer is normally used with.

Otherwise your planned steps look plausible. For relaying, you can do a relay like this in a launch file (obviously change the /cameraX/point_cloud topics and /octomap_input_cloud topic according to your setup):

<node pkg="topic_tools" type="relay" name="relay_cam1_topic" args="/camera1/point_cloud /octomap_input_cloud" />
<node pkg="topic_tools" type="relay" name="relay_cam2_topic" args="/camera2/point_cloud /octomap_input_cloud" />