How to built RtabMap with ORB-SLAM3

Posted by Majed on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-built-RtabMap-with-ORB-SLAM3-tp8195.html

Hi,,
I have noetic there an option to build rtabmap with ORBS-SLAM3 (https://github.com/introlab/rtabmap/blob/master/CMakeLists.txt#:~:text=option(WITH_ORB_SLAM%20%20%20%20%20%20%22Include%20ORB_SLAM2%20or%20ORB_SLAM3%20%20support%22%20ON)

How can i do that ?
1-do i need to install Ros-wappor of ORBS-SLAM3 then publish the odometry and subscribe its topic by  Rtabmap ?
2- or just i need to use odometry node in rtabmp  with (Odom,Strategy=5) and subscribe stereo with IMU and camera information topics ?

Can the first method apply with any slam/vio approach such as (basalt VIO)  ?because what i understand from Rtabmap documentations is odometry (loclazation) processing totally independent from map processing ( only map node subscribe odometry topic  )

Thanks  
Majed