使用Realsense D435i运行VINS-Fusion
11再编写一个launch文件，命名为my_vins_d435.launch，也保存在~/catk ...
原文：Launch VINS-Mono with Realsense D435i in RTAB-Map
Preparation: Remap topic from D i to rtabmap Feed the odometry to rtabmap In the rqt graph of vins estimator, topic vins estimator odometry is what rtabmap needs. Running Launch rtabmap: Launch vins: ...
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