Hi everyone,

I have a freenove 3wheel that i interfaced whith ros and build with a home made stereo camera. for now i have correctly calibrated the camera and computed visual odometry (not very robust yet). i'd like to use slam with this tiny robot but i'm not able to find a package for stereo camera slam on ros2 humble. Do you have any idea where to search or if nothing exist do you have some references to code a slam from scratch using python and opencv ?

Thanks