Real Time Implementation

[ahmedlatete]

hello ,
i want to implement Snake Slam in an autonomous vehicule driving pipeline and i need the code to do the SLAM real time but in it's curreent state it takes the data as a whole it does not read data from ros topics (i am using ROS 2), is it possible to use this code real time without much trouble (if yes how).
the other thing is i don't have the ground truth pose of the car (for obvious reasons) does that affect the code, do i need to comment any part .
note : i am still trying to save my data in the same format as the EuRoC dataset to try it but i still havent run the code at all