Orb Slam 2 Ros Versions Save

Plenty of bug fixes, TF2 integration, performance improvements.

Fix a segfault which occurred when loading large maps.

With this release full map and load functionality is supported. Finally!

From now on no parameters can be provided via the command line, everything needs to go through the ROS parameter server. One step closer to a unified setting of all parameters.

Also a lot of bugs got fixed and some code cleanup happened.

I am happy to release v1.0 of the orb_slam2_ros package!

This release supports:

• The Intel RealSense R200 and D435 out of the box
• Full data I/O via ROS topics
• Parameter setting with the rqt_reconfigure gui during runtime
• Very quick startup through considerably sped up vocab file loading

On top of that a lot of bugs got fixed and code refactored.