I dont have an answer but rather a question. I'm a beginner in robotic working on similar project like yours and was wondering if you could give me guidance on how you did to generate the map of the robot environment using orbslam3? i'm also using ROS1. I have orbslam3 working as standalone and also with ROS. I've searched online but all I've seen so far is how to run simulations. I've already recorded some bag files with my robot and now I'm looking for a way to use run those bag files in orbslam3 using ros and generate a map of the environment. Thanks for your help