Hi, I ported the ORB_SLAM2 monocular example to ROS2 Bouncy just yesterday.
https://github.com/alsora/ros2-ORB_SLAM2
I managed to get it working fine with images coming from my laptop camera.
I did the porting really quickly, just to see if it was working, but in the next days I hope to have time to port also the other camera modes and improve it
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