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The error tells you the problem

Invalid roslaunch XML syntax: mismatched tag: line 6, column 2

Take a look at your node tag, it's missing the / at the end. Change it to

<node pkg= "ORB_SLAM2" type= "RGBD" args= "/home/mesa/cavedrone/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/mesa/cavedrone/ORB_SLAM2/tcp_rgbd/bin/kinect.yaml" />

The error tells you the problem

Invalid roslaunch XML syntax: mismatched tag: line 6, column 2

Take a look at your node tag, it's missing the / at the end. Change it to

<node pkg= "ORB_SLAM2" type= "RGBD" args= "/home/mesa/cavedrone/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/mesa/cavedrone/ORB_SLAM2/tcp_rgbd/bin/kinect.yaml" />

Note how I added the / at the end of the node tag.