In our indoor wheeled robot, we used T265 as an odometry sensor. It has some strange behavior, but worked mostly fine and usually better than wheels' odometry because wheels slipped from time to time. Sadly, that's no longer an option.

Does anyone know either some another device of any kind that gives good odometry, about 1cm precision in a 1 second frame. AFAIK there is no real hardware alternative, but maybe there are some software tools that can use d435 camera and no more than one core of i5-10400 to produce odometry to be used with a SLAM node. Besides 4 d435 cameras and wheels, we use "RPLidar S1" 2d lidar.

We tried to use laserscanmatch, and while it's fast, it won't work at all in a long narrow aisles. We considered using IMU odometry from d435i, but we're not sure it's worth it, since error accumulates quite fast.

We are using ROS 2 foxy, but ros1_bridge is always an option