diff --git a/patch/ros-lyrical-rtabmap-conversions.patch b/patch/ros-lyrical-rtabmap-conversions.patch
new file mode 100644
index 00000000..ed9d61a0
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-conversions.patch
@@ -0,0 +1,30 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4dc4190..ed08e21 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,8 +9,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
+diff --git a/include/rtabmap_conversions/MsgConversion.h b/include/rtabmap_conversions/MsgConversion.h
+index 4e82e38..6f657f3 100644
+--- a/include/rtabmap_conversions/MsgConversion.h
++++ b/include/rtabmap_conversions/MsgConversion.h
+@@ -39,7 +39,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <sensor_msgs/msg/point_cloud2.hpp>
+ 
+ #include <opencv2/opencv.hpp>
++#if CV_MAJOR_VERSION < 5
+ #include <opencv2/features2d/features2d.hpp>
++#else
++#include <opencv2/features.hpp>
++#endif
+ #ifdef PRE_ROS_IRON
+ #include <cv_bridge/cv_bridge.h>
+ #else
diff --git a/patch/ros-lyrical-rtabmap-msgs.patch b/patch/ros-lyrical-rtabmap-msgs.patch
new file mode 100644
index 00000000..0c3dd7d2
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-msgs.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 01e7ceb..f97a796 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     rcutils_LIB NAMES rcutils
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
diff --git a/patch/ros-lyrical-rtabmap-odom.patch b/patch/ros-lyrical-rtabmap-odom.patch
new file mode 100644
index 00000000..787c9e90
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-odom.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7b10ad2..6ef5020 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+       
diff --git a/patch/ros-lyrical-rtabmap-rviz-plugins.patch b/patch/ros-lyrical-rtabmap-rviz-plugins.patch
new file mode 100644
index 00000000..69e452c3
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-rviz-plugins.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4e47a68..c8eb361 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,8 +9,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     message_filters_LIB NAMES message_filters
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
diff --git a/patch/ros-lyrical-rtabmap-slam.patch b/patch/ros-lyrical-rtabmap-slam.patch
new file mode 100644
index 00000000..24b821e9
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-slam.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6107b23..97ea89f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
+diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
+index c1fb75b..bb732d6 100644
+--- a/src/CoreWrapper.cpp
++++ b/src/CoreWrapper.cpp
+@@ -1474,7 +1474,7 @@ void CoreWrapper::commonMultiCameraCallbackImpl(
+ 		cv::Mat leftMono;
+ 		if(rgb.channels() == 3)
+ 		{
+-			cv::cvtColor(rgb, leftMono, CV_BGR2GRAY);
++			cv::cvtColor(rgb, leftMono, cv::COLOR_BGR2GRAY);
+ 		}
+ 		else
+ 		{
diff --git a/patch/ros-lyrical-rtabmap-sync.patch b/patch/ros-lyrical-rtabmap-sync.patch
new file mode 100644
index 00000000..683ece51
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-sync.patch
@@ -0,0 +1,20 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 106d23c..70eaa47 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,13 +5,11 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+   find_library(
+     crypto_LIB NAMES crypto
+-    PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
diff --git a/patch/ros-lyrical-rtabmap-viz.patch b/patch/ros-lyrical-rtabmap-viz.patch
new file mode 100644
index 00000000..cbe6465a
--- /dev/null
+++ b/patch/ros-lyrical-rtabmap-viz.patch
@@ -0,0 +1,56 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index add21b0..371140e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,18 +9,15 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+   find_library(
+     rcutils_LIB NAMES rcutils
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+   find_library(
+     crypto_LIB NAMES crypto
+-    PATHS "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
+diff --git a/src/GuiNode.cpp b/src/GuiNode.cpp
+index 88895ed..e62af21 100644
+--- a/src/GuiNode.cpp
++++ b/src/GuiNode.cpp
+@@ -32,6 +32,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <rtabmap/gui/MainWindow.h>
+ #include <rtabmap/utilite/ULogger.h>
+ #include <signal.h>
++#include <QSurfaceFormat>
++#include <vtkVersionMacros.h>
++#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
++#include <QVTKRenderWidget.h>
++#endif
+ 
+ QApplication * app = 0;
+ 
+@@ -49,6 +54,13 @@ int main(int argc, char** argv)
+ 
+ 	rclcpp::init(argc, argv);
+ 
++#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
++	// needed to ensure appropriate OpenGL context is created for VTK rendering
++	// (without it, macOS creates a legacy OpenGL 2.1 context and VTK crashes).
++	QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
++#endif
++	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
++
+ 	app = new QApplication(argc, argv);
+ 	app->connect( app, SIGNAL( lastWindowClosed() ), app, SLOT( quit() ) );
+ 
diff --git a/vinca.yaml b/vinca.yaml
index 85deac0f..3573a543 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -431,6 +431,7 @@ packages_select_by_deps:
       - rqt_reconfigure
       - rqt_tf_tree
       - rslidar_sdk
+      - rtabmap_ros
       - rviz_2d_overlay_plugins
       - rviz_satellite
       - serial_driver