Visual Inertial Odometry with D435i on TX2 (Drone)

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Hi, I'm interested in trying to find the best algorithm for visual inertial odometry with d435i on tx2 that will be on a drone. The purpose of this VIO is for visual servoing and SLAM I've tried a lot of ros packages but none gave me good results(Kimera, vins-fusion, rtabmap) I think it is something related to updates in the realsense versions. Has anyone recently gotten any good results with this setup and some ROS package and can he recommend it? Please refer the following realsense versions:

RealSense ROS v2.2.15, LibRealSense v2.36.0

Thanks