ROS humble VINS FUSION

[GGYU]

I want to use RTAB-Map + VINS-Fusion together in the ROS2 Humble environment.


However, there aren’t many resources available for Humble. Is there any material I can refer to?

[matlabbe]

I never tried VINS-Fusion under ROS2, it looks like there is a repo there: https://github.com/zinuok/VINS-Fusion-ROS2

For VINS-Fusion integration inside rtabmap, the best would be to convert the original repo and make it a c++ library directly and remove everything ros1, though I don't remember how much of the source code uses ROS.