ORB-SLAM2 D435i camera

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Hello, I use D435i camera to try the ORB-SLAM2 form this website

https://www.guyuehome.com/12026

But I do the command in this

"rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml"

It's shows error :

Depth Threshold (Close/Far Points): 3.09294

terminate called after throwing an instance of 'ros::InvalidNameException'

what(): Character [ ] at element [8] is not valid in Graph Resource Name [/camera/

aligned_depth_to_color/image_raw]. Valid characters are a-z, A-Z, 0-9, / and _.

Aborted (core dumped)

Can any one for help?