Run ORB_SLAM2 Under ROS/Example

Under ROS:

1.roscore

2.roslaunch usb_cam usb_cam-test.launch

3.rosrun ORB_SLAM2 Mono ./Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM1.yaml
 

Example:

./Examples/Monocular/mono_tum  ./Vocabulary/ORBvoc.txt .Examples/Monocular/TUM1.yaml ./data/rgbd_dataset_freiburg1_rpy