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This occurs in book 12. I know it's rather opinionated but I thought I'd throw it out there anyway.

I think it depends on how you look at the situation.  Odysseus was put in a tough spot -- to either sail by Charybdis and risk all the men being killed or sail by Scylla and know that 6 men would have to be sacrificed.  I think he made the best decision; I also, however, think he can be blamed for not warning the men about what they may encounter on the water, though that may have caused hysteria. 

Odysseus explicitly takes responsibility for Scylla devouring the six oarsmen:

. . . For my part,

I let go from my mind the difficult instruction that Circe

Had given me, for she told me not to be armed for combat;

But I put on my glorious armor and, taking up two long

Spears in my hands, I stood bestriding the vessel’s foredeck

At the prow. . . .

[Book XII, ll. 225-29; Lattimore translation]

Guilt drips from his reaction to the carnage:

That was the most pitiful scene these eyes have looked on

In my sufferings as I explored the routes over water.

[Book XII, ll. 258-59]

Who's to argue with the hero himself?