usb 摄像头 ORBSLAM2 ros ubuntu18.04

GitHub - appliedAI-Initiative/orb_slam_2_ros: A ROS implementation of ORB_SLAM2

git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git
cd ..
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
sudo apt install libeigen3-dev

sudo apt-get install python3-catkin-tools
catkin build


source devel/setup.bash

git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
cd ../
catkin_make

roslaunch usb_cam usb_cam-test.launch

改<remap from="/camera/image_raw" to="/usb_cam/image_raw" />

roslaunch orb_slam2_ros orb_slam2_d435_mono.launch
 

rviz

camera_link