Add VSLAM to Nav2 demo

[mkhansenbot]

To make the Nav2 demo more realistic, it should use VSLAM instead of lidar based SLAM and localization

[mkhansenbot]

Added to next milestone (proposed) humble-2024.04.0

[Mechazo11]

@mkhansenbot is this milestone still active?

[Bckempa]

@mkhansenbot is this milestone still active?

No one took on this issue for the 2024.04 release or the 2024.07 release. We haven't set scope for the 2024.10 release yet; the preliminary milestone goals will be set at next week's technical committee meeting. However, if you or anyone decides to take this issue on we are more than happy to merge it at any time.

[Mechazo11]

@Bckempa thanks for the info. I wanted to address this issue by starting to incorporate a ROS 2 package for ORB SLAM3 but in a recent discussion I had, there appears to be an incompatibility between GPL v3.0 and Apache 2.0 license that Space ROS is based on. Are you familiar with this licensing issue?

[Bckempa]

Just to be clear - I am not a lawyer, and I am not any sort of legal authority for this project. That said, I am familiar with different types of open source licenses in general.

[ivanperez-keera]

This issue seems non-trivial for a number of reasons. I think it's best to move this to a discussion, and open separate issues when we have a specific, achievable plan of action.