Custom VIO into Rtabmap

[Genozen]

Hello, I've managed to get some decent VIO to work (OpenVins) with my D435i camera in ROS 2 Humble.

I'm wondering how exactly is to feed the VIO topic into the rtabmap to perform mapping and loop-closure.

Can I get some guidance as to which files I should modify or tutorials to follow?

[matlabbe]

Based on those examples using rtabmap.launch.py, you can launch with visual_odometry:=false odom_topic:=/openvins/odom.

or if you launch rtabmap node only:

ros2 run rtabmap_slam rtabmap --ros-args -r odom:=/openvins/odom ...