Basically, at this point in time, yes. The door is still open for future types, but I think the whole idea of the routing header was flawed to begin with. Add the fact that some variants of SDN want to do something similar, and I think the idea is dead.
I have never thought it a good idea to let end-devices try to dictate the path packets take through the network. Similarly, if you look at QoS, most successful QoS implementations usually overwrite the end-device supplied DSCP value in order to create a comprehensive, consistent QoS solution; everybody wants their traffic marked