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ORB-SLAM2 modified for development

See the original repo: https://github.com/raulmur/ORB_SLAM2

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/
export LIBGL_ALWAYS_INDIRECT=1
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/path/to/ORB_SLAM2/Examples/ROS

rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt muse/muse.yaml false

input:

• /camera/left/image_raw : left image (rectified, undistorted)
• /camera/right/image_raw : right image (rectified, undistorted)

output:

• /cube/data/vslam_localization/pose : Estimated pose