$ ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml rgbd_dataset_freiburg1_xyz/
运行结果良好
终端1
$ roscore
终端2
$ rosrun ORB_SLAM2 Mono ./Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM1.yaml
终端3
rosbag play rgbd_dataset_freiburg1_xyz.bag /camera/rgb/image_color:=/camera/image_raw
运行时图像数据传输存在问题，将subcribe的队列大小增大后仍无明显改善