How to execute with RTABMAP+Realsense+ORB_SLAM 2

Posted by koba on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-execute-with-RTABMAP-Realsense-ORB-SLAM-2-tp5760.html

Build of RTAB-Map incorporating ORBSLAM2 succeeded referring to past threads.
The procedure is as follows
1.Export ORB_SLAM2_ROOT_DIR = / home / user / ORB_SLAM2 to .bashrc
2.cmake -DWITH_G2O = OFF in the build directory ..
3.make

It is the execution method,
Execute the following on Terminal 1
roslaunch realsense2_camera rs_aligned_depth.launch
Execute the following on Terminal 2
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath \"/home/user/catkin_ws/ORB_SLAM2/Vocabulary/ORBvoc.txt\"" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

The following error was displayed.
[ERROR] (2019-04-22 17:02:44.037) OdometryORBSLAM2.cpp:1026::computeTransform() RTAB-Map is not built with ORB_SLAM2 support! Select another visual odometry approach.

Please tell me what kind of cause is considered?