ORB-SLAM2 with GPU Optimization on NVIDIA Jetson TX1 - ROS Interface

I wrote a ROS publisher node for ORB-SLAM2 with GPU Optimization, tested on NVIDIA Jetson TX1. Based on these repos: https://github.com/raulmur/ORB_SLAM2 https://github.com/yunchih/ORB-SLAM2-GPU2016-final The original versions offer build file for ROS but don't have a publisher. I added publishers for a few topics: tf, camera pose, pointcloud, current frame.