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How to connect ORB_SLAM with ARDRONE 2.0 ?

Hi ,

I want to implement ORB_SLAM in ARDRONE's camera.

https://github.com/raulmur/ORB_SLAM

What are all the changes should I have to include ? Should I make changes to any of the launch files ?

Should that ardrone.launch file contain any code changes to include ORB-SLAM ?

Any fastest help is appreciable