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The simulated cameras of Atlas in DRCsim honor the ROS conventions for interfacing Cameras (e.g. they publish both Image and CameraInfo with same timestamp etc.). You should thus be able to take any VSLAM approach using these standard interfaces, remap the two topics in the VLSAM system's launch file and be good to go. Depending on the amount of features in your simulated world and other factors, you'll get good or not so good results :)