Test ORB SLAM in SITL

[knmcguire]

ORB SLAM is a real-time SLAM library which can be used to perform Visual, Visual-Inertial and Multi-Map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models.

A recorded bag file of test flight was used to get the trajectory of the drone, once collected the orb_slam_ros_wrapper can be used to obtain the KF markers .
The calibration guide can be used to set the parameters of the monocular , RGB-D type cameras.

Snippet of the drone test is attached with this comment for reference.