1.在~/orb_slam3/examples_old/ros/orb_slam3下开启三个终端
2.第一个
roscore
3.第二个
source
~/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/build/devel/setup.bash
rosrun ORB_SLAM3 Mono ~/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Asus.yaml
4.
第三个
rosbag play ~/dataset/EuRoC/MH_01_easy.bag