Besides the porting of the ORB_SLAM2 examples, I am trying to create a version of the library fully compatible with ROS2.
I removed the dependency on Pangolin, in order to let all the SLAM data to be published on ROS2 topics, thus allowing to visualize them with Rviz and to plug this SLAM node into a complete navigation solution.
I would like to facilitate the cross-compilation of ORB_SLAM2 with ROS2 for the RaspberryPi and then try to run the whole system there, reducing the camera frame rate.
You can find here the ROS2 version of the ORB_SLAM2 library; it includes a Dockerfile for building everything you need.
If you have suggestions or features that you would like to change, just let me know or contribute with a PR!
https://github.com/alsora/ORB_SLAM2
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