orb_slam2_airsim_mono.launch

<launch>
    <arg name="SETTING_FILE" default="$(find orb_slam2_ros)/orb_slam2/config/Airsim_Mono.yaml" />
    <arg name="CAMERA_SOURCE" default="/airsim/rgb/image_raw" />

    <remap to="$(arg CAMERA_SOURCE)" from="/camera/image_raw" />

    <!-- ORB_SLAM2 Mono Node -->
    <node name="orb_slam2_mono" pkg="orb_slam2_ros"
            type="orb_slam2_ros_mono" args="
            $(find orb_slam2_ros)/orb_slam2/Vocabulary/ORBvoc.txt
            $(arg SETTING_FILE)"
            output="screen">
        <!-- <remap from="/camera/image_raw" to="/camera/rgb/image_raw" /> -->

        <param name="publish_pointcloud" type="bool" value="true" />
        <param name="publish_pose" type="bool" value="true" />
        <param name="pointcloud_frame_id" type="string" value="map" />
        <param name="camera_frame_id" type="string" value="camera_link" />

    </node>

    <!-- RVIZ -->
    <node name="vis" pkg="rviz" type="rviz" args=" -d $(find orb_slam2_ros)/Data/rviz.rviz" output="screen" />
</launch>