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You may find the answer on the Turtlebot part of this Google Tango tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/Tango%20ROS%20Streamer#Turtlebot

There Google Tango is giving odometry to camera, not base_footprint of turtlebot. The hack is to make base_footprint the child of the camera, unless you can specify to T265 driver in which frame you want the odometry transformed (which would be base_footprint instead of the camera). I think T265 can use wheel odometry as input too, maybe they have something already done for that.

cheers,
Mathieu