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For the case of static and known camera calibration, we've created a package called virtual_camera that stitches a spherical panorama from a configurable number of input cameras (we use 5 horizontal cams and 1 ceiling-looking). It hasn't been properly published anywhere, but you can access its docs and code from http://cmp.felk.cvut.cz/nifti/sw/virtual_camera/ . The code in there is a little old, I think it was last tested on Groovy or so, but it shouldn't be that difficult to get it running on modern ROS1 distros. We have an unpublished version for Melodic - if you were interested, PM me on ROS discourse (peci1).

Example input (all cameras stitched next to each other for the visualization, but normally it's 6 distinct images):

Example output: