diff --git a/distros/humble/patch/ros2-rtabmap-util.patch b/distros/humble/patch/ros2-rtabmap-util.patch
new file mode 100644
index 00000000..d295dbbd
--- /dev/null
+++ b/distros/humble/patch/ros2-rtabmap-util.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9104af7..b0c0be8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -28,7 +28,8 @@ find_package(rtabmap_msgs REQUIRED)
+ find_package(rtabmap_conversions REQUIRED)
+ find_package(rtabmap_sync REQUIRED)
+ 
+-find_package(RTABMap COMPONENTS gui REQUIRED)
++# nothing here uses rtabmap's GUI, and humble's rtabmap is built without Qt
++find_package(RTABMap REQUIRED)
+ 
+ # Optional components
+ find_package(octomap_msgs)
diff --git a/distros/humble/vinca.yaml b/distros/humble/vinca.yaml
index 6ddebe7c..1283b494 100644
--- a/distros/humble/vinca.yaml
+++ b/distros/humble/vinca.yaml
@@ -12,6 +12,8 @@ mutex_package:
   version: "0.10.0"
 
 packages_exclude:
+  - rtabmap_rviz_plugins  # links PCL, whose VTK is Qt 6 on conda-forge, into a Qt 5 RViz plugin (humble's RViz is Qt 5)
+  - rtabmap_viz  # needs rtabmap's GUI, which follows VTK's Qt 6, while humble's RViz is Qt 5 (rtabmap is built without Qt here)
 
   - if: not linux
     then:
diff --git a/distros/jazzy/vinca.yaml b/distros/jazzy/vinca.yaml
index 2488b5a7..6a91a438 100644
--- a/distros/jazzy/vinca.yaml
+++ b/distros/jazzy/vinca.yaml
@@ -12,3 +12,6 @@ mutex_package:
   # new build without run_constraints (same version as the published ones)
   build_number: 26
   version: "0.19.0"
+
+packages_exclude:
+  - rtabmap_rviz_plugins  # links PCL, whose VTK is Qt 6 on conda-forge, into a Qt 5 RViz plugin (jazzy's RViz is Qt 5); rtabmap_viz is fine, it uses only rtabmap's Qt 6
diff --git a/shared/patch/ros2-rtabmap-conversions.patch b/shared/patch/ros2-rtabmap-conversions.patch
new file mode 100644
index 00000000..ed9d61a0
--- /dev/null
+++ b/shared/patch/ros2-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/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
+diff --git a/include/rtabmap_conversions/MsgConversion.h b/include/rtabmap_conversions/MsgConversion.h
+index 4e82e38..6f657f3 100644
+--- a/include/rtabmap_conversions/MsgConversion.h
++++ b/include/rtabmap_conversions/MsgConversion.h
+@@ -39,7 +39,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <sensor_msgs/msg/point_cloud2.hpp>
+ 
+ #include <opencv2/opencv.hpp>
++#if CV_MAJOR_VERSION < 5
+ #include <opencv2/features2d/features2d.hpp>
++#else
++#include <opencv2/features.hpp>
++#endif
+ #ifdef PRE_ROS_IRON
+ #include <cv_bridge/cv_bridge.h>
+ #else
diff --git a/shared/patch/ros2-rtabmap-odom.patch b/shared/patch/ros2-rtabmap-odom.patch
new file mode 100644
index 00000000..787c9e90
--- /dev/null
+++ b/shared/patch/ros2-rtabmap-odom.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7b10ad2..6ef5020 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+       
diff --git a/shared/patch/ros2-rtabmap-rviz-plugins.patch b/shared/patch/ros2-rtabmap-rviz-plugins.patch
new file mode 100644
index 00000000..69e452c3
--- /dev/null
+++ b/shared/patch/ros2-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/$ENV{ROS_DISTRO}/lib"
+-    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
++    REQUIRED
+   )
+ endif()
+ 
diff --git a/shared/patch/ros2-rtabmap-slam.patch b/shared/patch/ros2-rtabmap-slam.patch
new file mode 100644
index 00000000..24b821e9
--- /dev/null
+++ b/shared/patch/ros2-rtabmap-slam.patch
@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6107b23..97ea89f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,8 +14,7 @@ if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+   # issues #1285 #1288
+   find_library(
+     builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
+-    PATHS "/opt/ros/$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/shared/patch/ros2-rtabmap-viz.patch b/shared/patch/ros2-rtabmap-viz.patch
new file mode 100644
index 00000000..b5c695de
--- /dev/null
+++ b/shared/patch/ros2-rtabmap-viz.patch
@@ -0,0 +1,30 @@
+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/shared/tests/ros2-rtabmap-slam.yaml b/shared/tests/ros2-rtabmap-slam.yaml
new file mode 100644
index 00000000..3ee7169a
--- /dev/null
+++ b/shared/tests/ros2-rtabmap-slam.yaml
@@ -0,0 +1,6 @@
+tests:
+  # Smoke test: `rtabmap_slam/rtabmap` (the SLAM node) starts (loads its libraries and the RMW) and is still running after 5 s.
+  - if: unix
+    then:
+      script:
+        - python -c "import os, subprocess, sys, time; p = subprocess.Popen([os.path.join(os.environ['PREFIX'], 'lib', 'rtabmap_slam', 'rtabmap')]); time.sleep(5); r = p.poll(); p.terminate(); sys.exit(0 if r is None else 1)"
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index c93bc085..35408804 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -581,6 +581,7 @@ packages_select_by_deps:
       - rqt_reconfigure
       - rqt_tf_tree
       - rslidar_sdk # rs_driver's Windows socket code has multiple pre-existing min/max-macro and getsockopt/setsockopt type bugs; not pursuing further
+      - rtabmap_ros # Windows not tried yet; requested in https://github.com/RoboStack/ros-lyrical/pull/83
       - rviz_2d_overlay_plugins
       - rviz_satellite
       - smacc2