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Setting

cd orb_slam2_ros
echo "export ORBSLAM2_LIBRARY_PATH=${ORB_SLAM2_PATH}/ORB_SLAM2" >> ~/.bashrc
source ~/.bashrc
cd bash_scripts
chmod +x launch_kinect2.sh

Run

rosnode cleanup 
roslaunch orb_slam2_ros lcr_realsense.launch

If you get errors like Failed to load nodelet '/camera/realsense2_camera or An exception has been thrown: Time is out of dual 32-bit range, one possible reason is that the realsense driver node is not killed properly previously and you can use rosnode list to see the nodes that are running. You may see that even though you killed the camera driver's launch file with ctrl+c, the nodes (/camera/realsense2_camera, /camera/realsense2_camera_manager) are still running. So you need to call rosnode cleanup to kill the nodes and then you will be able to launch the camera driver again.