ORB SLAM +kinect2 launch

/home/pioneer/catkin_ws/src/iai_kinect2/kinect2_bridge/launch目录下新建文件kinect_orbslam2.launch , 其内容为

<launch> 
  <param name="orb_use_viewer" value="false"/> 
  <node pkg="ORB_SLAM2" type="RGBD" name="ORB_SLAM2" 
        args="/home/pioneer/ORB_SLAM/ORB_SLAM2/Vocabulary/ORBvoc.txt 
         /home/pioneer/ORB_SLAM/ORB_SLAM2/Examples/RGB-D/kinect2_qhd.yaml" cwd="node" output="screen"/> 

  <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"> 
    <!-- use device registration 
    <arg name="depth_registration" value="true" /> 
    <arg name="rgb_processing" value="true" /> 
    <arg name="ir_processing" value="false" /> 
    <arg name="depth_processing" value="false" /> 
    <arg name="depth_registered_processing" value="true" /> 
    <arg name="disparity_processing" value="false" /> 
    <arg name="disparity_registered_processing" value="false" /> 
    <arg name="sw_registered_processing" value="false" /> 
    <arg name="hw_registered_processing" value="true" /> --> 
  </include> 
</launch> 

不想每次输入source ~/catkin_ws/devel/setup.bash，就gedit ~/.bashrc（提示”.”开头的文件都是隐藏文件，Ctrl + H 让它现形）,在文件末尾加入
source ~/catkin_ws/devel/setup.bash

ROS_PACKAGE_PATH也很重要，一般也放在bashrc里,

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src