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@JackB is right, ORB-SLAM2 is explicit about being unable to observe scale without stereo or depth data. You will need to provide an RGBD or stereo camera, or use a different package.
If you really want to stick with ORB-SLAM2, you could try estimating depth of your RGB image, and bolt on that depth estimation to produce an RGBD image that you feed into ORB-SLAM2. There are a few monocular depth estimation packages out there you can try out, including some that don't rely on a neural network.
An IMU + a mono camera are enough to detect scale. Visual-inertial integration is beyond ORB-SLAM2. You could use ORB-SLAM3 for that though, or any of the other visual-inertial systems.
There are some approaches (like this) that use just a RGB image that more tightly integrate depth estimation. There will be more work done here, since the idea of using a cheap camera without any other sensors to localize is very attractive.
VSLAM and mono depth estimation are both open research topics, with new approaches being introduced all the time.
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