Why does RTABmap subscribing to my other TF?

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I have noticed some problem. When I launch RTABmap, it subscribes to my noisy_odom TF and also subscribes to filtered_odom TF and I think it makes my map being messy and sometimes I get this warning:

Rtabmap.cpp:2072::process() Rejected loop closure 1 -> 177: Not enough inliers 0/5 (matches=1) between 1 and 177

Which I guess means that RTABmap also does the visual odom which I do not want as it messes my map (even though I did not start that node).

So here is my RQT_GRAPH:

And in SVG format: https://drive.google.com/open?id=1yPJ...

My RTAB database if needed: https://drive.google.com/file/d/1WcAd...

And finally this is how I launch my RTABmap (note that on my remote robot I launch rtabmap/stere_sync and it sends rgbd_image topic):

<launch>
    <arg name="use_zed"         default="true"  doc="Set to false when using Intel Realsense D435"/>
    <arg name="localization"    default="false" doc="Localization mode for navigation"/>
    <arg name="database_path"   default="rtabmap.db"/>
    <arg name="rviz"            default="true"/>
    <arg name="rtabmapviz"      default="true" />
    <arg name="rate"            default="1.0"/>

    <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />

    <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
    <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>
    <arg     if="$(arg localization)" name="rviz_config"   default="$(find rtabmap_ros)/config/navigation.rviz"/>
    <arg unless="$(arg localization)" name="rviz_config"   default="$(find rtabmap_ros)/config/mapping.rviz"/>


    <arg name="input_odom"       default="/odom"/>
    <arg     if="$(arg use_zed)" name="input_image"        default="/stereo_camera/left/image_rect_color"/>
    <arg     if="$(arg use_zed)" name="input_depth"        default="/stereo_camera/depth/depth_registered"/>
    <arg     if="$(arg use_zed)" name="input_camera_info"  default="/stereo_camera/left/camera_info"/>

    <arg name="rgb_topic"               default="/rgb/image_rect_color" />
    <arg name="depth_topic"             default="/depth/depth_registered" />
    <arg name="camera_info_topic"       default="/rgb/camera_info" />
    <arg name="rgbd_topic"       default="/rgbd_image" />


    <!-- Rtabmap params -->
    <arg name="subscribe_rgbd" default="true"/>
    <arg name="stereo" default="false"/>
    <arg name="approx_sync" default="true"/>

    <!-- rgbd_sync params -->
    <arg name="compressed"              default="true"/>
    <arg name="rgb_image_transport"     default="compressed"/>
    <arg name="approx_rgbd_sync"        default="true"/>
    <arg name="rgbd_sync"               default="true"/>
    <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
    <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
    <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
    <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
    <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
    <arg if="$(arg rgbd_sync)"      name="rgbd_topic_relay"          default="$(arg rgbd_topic)"/>
    <arg unless="$(arg rgbd_sync)"  name="rgbd_topic_relay"          default="$(arg rgbd_topic)_relay"/>

    <!-- launch rgbd_sync -->
    <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
    <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
        <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
        <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
        <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
        <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
        <param name="queue_size"      type="int"    value="100"/>
        <param name="depth_scale"     type="double" value="1 ...