It may or may not be useful for you but I've been working for a while on converting ORBSLAM3 into a self contained standalone program, without the need for ROS

It may or may not be useful for you but I've been working for a while on converting ORBSLAM3 into a self contained standalone program, without the need for ROS to be useful. The "UI" for saving/loading the map and calibrating the camera is exposed through a built-in crude webserver. Visualization is done via threejs instead of having a dependency on pangolin. If your robot can expose the camera feed as anything opencv can ingest ( i.e. mjpeg via http ) you could just point it there and then receive the pose stream via HTTP/SSE The whole thing is distributed as an AppImage so you just run it and connect to it https://github.com/mgschwan/ORBSlammer_LocalizationService https://github.com/mgschwan/ORBSlammer_LocalizationService