1.发布kinect数据
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
2.设置姿态
rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
3.打开rtabmap
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info
ORB_SLAM2运行步骤
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
rosrun ORB_SLAM2 Mono /home/xp/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/xp/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml
