Implementation issue of the opensource_tracking.launch

[SahanGura]

In the opensource_tracking.launch file, filtered odometry given by the ukf of robot localization package has not fed into the rtabmap node. Which means rtabmap node subscribes odometry from rgbd_odometry node thorugh rtabmap/odom topic. So filtered odometry from ukf is not used in rtabmap if I am not mistaken?

Isn't the correct implementation something like following node graph?