I want to know if someone have done any work on RTAB-MAP Android, I'm trying to add ROS input/output to the Android version but maybe its a too big challenge for me so I try to find someone to help. I think it helps a lot since with that kind of functions Android devices can be used as a full ROS sensor.
Thanks!
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I am not aware of anyone integrating ROS to rtabmap's android app. A place to start for ROS1 would be to look about how they built ros for android in this project: https://github.com/Intermodalics/tango_ros
Other links for ROS2:
Ideally, if you can build rtabmap_conversions and rtabmap_msgs libraries, they could be included in the android app to "easily" (well, would have to check how it is done in rtabmap_slam/rtabmap node) convert the internal rtabmap data to the ros messages.
One caveat from my experience with tango_ros is that it may be not obvious how to synchronize the timestamps coming for the phone with an external computer running other ros nodes.
