Hi,

I have a robot base that reports odometry with a mpu9250 imu and a playstation HD camera (https://www.playstation.com/nl-nl/accessories/hd-camera/). There is no synchronization between the imu and camera.

I would like to have it navigate outdoors (in an environment with mostly trees, grass, and some pavement and buildings).

So i am looking for a visual slam system has acceptable performance with unsynchronized imu / camera / wheel odometry.

I would like to run it under ros2 with the navigation2 stack.

Is there any open source slam systems that would work for this?