As you have already noticed, you should pick appropriate component to make work done :). In your scenario (same virtual machine - Servicemix and OSGi bundles) I'd like to recommend using Direct VM. Camel's Documentation explains it quite clearly:
This component allows also to connect routes deployed in different OSGI Bundles as you can see here after. Even if they are running in different bundles, the camel routes will use the same thread
You will find example in documentation as well.
Direct VM component is rather primitive (so quite fast as well), so you might need more advanced way of communication between bundles in future. A lot of people uses JMS for example. Any way, Direct VM makes it a day in many situations :).
Robert