After searching for a while, I found a website that had that answer, basically you need to replace https://github.com/zang09/ORB_SLAM3_ROS2/blob/00c54335ccc010d74c1e24e336aa817604124947/src/rgbd/rgbd-slam-node.cpp#L11C1-L12C122

[JTShuai]

          After searching for a while, I found a website that had that answer, basically you need to replace https://github.com/zang09/ORB_SLAM3_ROS2/blob/00c54335ccc010d74c1e24e336aa817604124947/src/rgbd/rgbd-slam-node.cpp#L11C1-L12C122

Replace with the following lines:

rgb_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/rgb");
depth_sub = std::make_shared<message_filters::Subscriber<ImageMsg> >(this, "/camera/depth");

Now it should work.

Originally posted by @RodrigofrBastos in #24 (comment)