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I could suggest TARA stereo camera form e-con systems. Customizing baseline option is available, according to your application. Please refer the below link localization accuracy and Comparision https://dspace.cvut.cz/bitstream/handle/10467/68508/F3-BP-2017-Bayer-Jan-Autonomous_Localization_of_Hexapod_Walking_Robot.pdf
Please refer the below link for frame rate achieved with Tara camera and system configuration https://github.com/raulmur/ORB_SLAM2/issues/355
Please refer the below blog to ROS driver for tara https://www.e-consystems.com/Articles/Camera/ros-support-for-tara.asp