RealSense run ORB-SLAM

步骤如下：

1、按照前面博文编译 realsense t265 ROS版本，注意realsense t265发布的image topic 名字；编译ORB SLAM3（自己编译）。

2、修改以下文件中的订阅image topic名字   "/camera/fisheye1/image_raw"

    ros::NodeHandle nodeHandler;
    ros::Subscriber sub = nodeHandler.subscribe("/camera/fisheye1/image_raw", 100, &ImageGrabber::GrabImage,&igb);

3、运行realsense t265  和 ORB slam3

roslaunch realsense2_camera rs_t265.launch
cd ./ORB_SLAM3/Examples/ROS
rosrun ORB_SLAM3 Mono ../../Vocabulary/ORBvoc.txt ../Monocular/realsense.yaml

或者回放ros bag

rosbag play realsense.bag

cd ./ORB_SLAM3/Examples/ROS

rosrun ORB_SLAM3 Mono ../../Vocabulary/ORBvoc.txt ../Monocular/realsense.yaml