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Hi There, you question states you are trying to test ORB_SLAM2 with the TUM data set and then your say you're trying to test your monocular camera. These are mutually exclusive you cannot be doing both.

Your error message is caused because the usb_cam node is failing to start so I'd investigate this on its own first. You seem to have built it from source as well which is probably not necessary.

So I'd recommend trying to get the usb_cam_node working properly first, calibrate your camera as described here, then try and integrate this with the ORB_SLAM2 system.