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Based on this section: http://wiki.ros.org/rtabmap_ros#Visual_and_Lidar_Odometry, you could change those parameters:

~frame_id (string, default: "base_link")

The frame attached to the mobile base.

~odom_frame_id (string, default: "odom")

The odometry frame.

rosrun rtabmap_ros rgbd_odometry _frame_id:=base_frame _odom_frame_id:=odom_frame odom:=odom_topic_name

However, if your bag is providing already TF between odom and base_link frames, without modifying the bag or breaking the Tf Tree (to avoid two parents for base_link), you can use it as guess for rgbd_odometry:

rosrun rtabmap_ros rgbd_odometry _frame_id:=base_link _odom_frame_id:=vo_odom odom:=vo_odom _guess_frame_id:=odom

Other option is to remove completly your odom frame from TF from your bag using a script similar to this: http://official-rtab-map-forum.206.s1.nabble.com/Removing-all-map-frames-from-a-rosbag-td660.html