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vslam is experimental research code. It is not actively being supported, and should be used at your own risk, but patches are welcome.

If you would like a robust method of localization and mapping with a stereo camera or kinect, use the 2D slam_gmapping stack. See the pointcloud_to_laserscan package from the turtlebot stack and the SLAM Gmapping with Kinect Tutorial for the turtlebot.