Hi there,

im trying to use ORB_SLAM3 for visual odometry in rtabmap but I’m struggling to set the environment.

i did the following procedure:

1. Install ORBSLAM3
   git clone -b v0.4-beta https://github.com/UZ-SLAMLab/ORB_SLAM3.git
   cd ORB_SLAM3/
   wget https://gist.githubusercontent.com/matlabbe/f5cb281304a1305b2824a6ce19792e13/raw/f8bbc796edc29b9f815cbf3c99a0c3e13e23663d/orbslam3_v4_rtabmap_fix.patch
   git apply orbslam3_v4_rtabmap_fix.patch
   ./build.sh

2. Configure the environment
   sudo gedit ~/.bashrc
   export ORB_SLAM_ROOT_DIR=/home/lib/ORB_SLAM3
   source ~/.bashrc

3. Build rtabmap in my work space
   cd ~/home/ros2_ws/src/rtabmap
   cd build/
   cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON ..
   make -j4
   Make install

4. Build ros2 rtabmap
   cd ros2_ws/
   Colcon build —packages-select rtabmap rtabmap_ros —cmake-args -DWITH_ORB_SLAM=ON

5. Source ros2_ws/install/setup.bash

6. Ros2 run rtabmap_ros rtabmap —version

Then it still shows orbslam being false.

what am I doing wrong?

Thanks in advance