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This:

<remap from="/odom" to="/base_controller/odom" />
<remap from="/rtabmap/rgbd_image" to="/rgbd_image" />

should be:

<remap from="odom" to="/odom" />
<remap from="rgbd_image" to="rgbd_image" />

"from" is default topic name used by the node (the topic shown in ros wiki). "to" is the name of the topic you want to use. If you prefix the topic name with "/", it means the global namespace. For example, if rtabmap node is under "rtabmap" namespace (like in the original example), using the remap as above will make rtabmap subscribing to /odom and /rtabmap/rgbd_image. Note that if rgbd_sync node is also under "rtabmap" namespace, it will produce /rtabmap/rgbd_image by default.