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If this may help some future readers, I've made some modifications to ORB-SLAM2 to use the up-to-date version of

DBoW2
g2o
Pangolin

(so, no ThirdParty folder in the repo). It is catkin-ready (both offline apps and online nodes). It requires couples of dependency listed in the repo itself. Here is the repo: srrg_orbslam

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