need help to integrate RTAB slam with intel realsnse d455 camera through jetson nano with ROS2 foxy

[danaiah]

i have been doing a project on UAV to make it gps free drone. for that cause i bought intel realsense D455 camera and i have been trying to localize the camera using the RTAB. i didn't get through any valid resource that is why i'm here to get your guidance. i will be very happy if i get good resources to integrate the RTAB slam for localization and mapping for my gps denied drone project. i have only 5 days left to submit my project your help will be greatly appriciated

[matlabbe]

I would start to see if it could work hand-held first before going on the drone. Try this example (RGB-D) or this one (IR-depth) on the jetson nano. If VO rate is below 10 Hz, then it may be not possible to do, or you would need to find another VO approach (or try F2F optical flow odometry with parameters "--Odom/Strategy 1 --Vis/CorType 1 --Odom/KeyFrameThr 0.6") that is fast enough on Nano.