The TUM camera parameters are given in orb_slam2_ros/orb_slam2/config/TUM2.yaml.
The settings_file rosparam, which contains the path to this yaml-file, doesn't appear to be used anywhere in the whole repository. (based on grep -r "settings_file" orb_slam2_ros)
For a fast solution the TUM2 parameters therefore are simply copied into the launch file, taking the d435 launch file as an example of the parameter names. (The d435 was confirmed to launch correctly)
The TUM camera parameters are given in
orb_slam2_ros/orb_slam2/config/TUM2.yaml. Thesettings_filerosparam, which contains the path to this yaml-file, doesn't appear to be used anywhere in the whole repository. (based ongrep -r "settings_file" orb_slam2_ros)For a fast solution the TUM2 parameters therefore are simply copied into the launch file, taking the d435 launch file as an example of the parameter names. (The d435 was confirmed to launch correctly)