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The instructions you refer to in section 7 of the ORB SLAM page are just about setting up ORB SLAM to work with an existing topic, it doesn't setup a camera node to publish live data to the topic, you have to do that separately.

The node is saying it's waiting for messages for this reason, none are being published.

Depending on your camera you'll have to start a camera driver ROS node and possibly remap its topic to /camera/image_raw which ORB SLAM expects. You'll probably want one of the standard USB or V4L camera nodes such as usb_cam or uvc_camera

Hope this helps.

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