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You just to it on a single tag.

<remap from="rgb/image"          to="/camera/rgb/image_raw"/>

A more complete example below. Note the "node" tag, because you're launching a node and remapping it's topics.

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen">
    <remap from="scan" to="/scan"/>
    <remap from="camera" to="/camera1"/>
</node>

Doing it with an include file like below WILL NOT work i don't think (someone correct me if im wrong).

<include if="$(arg kinect)" file="$(find openni_launch)/launch/openni.launch">
    <remap from="camera"            to="/camera1"/>
</include>

Also, note that "scan" is different from "/scan". Having only "scan" without the "/" will place the topic under whatever namespace your node is running.

Take the rtabmap example above. Putting to="/scan" will use the topic "/scan". Using to="scan" will put it under "/rtabmap/scan".