Is there a ROS Melodic version of the stereo VSLAM and estimates stereo visual inertial odometry using the Isaac Elbrus

Is there a ROS Melodic version of the stereo visual simultaneous localization and mapping (VSLAM) and estimates stereo visual inertial odometry using the Isaac Elbrus GPU-accelerated library?

I have JetPack 4.5.1 with Ubuntu 18.04 on the Jetson Xavier with ROS Melodic installed. I wanted to use VSLAM tool that is compatible with it. The reason I am using JetPack 4.5.1 is because it is compatible with Isaac SDK and want to use ROS for multiple cameras.

Isaac ROS requires ROS2 Humble because of features new in this release of ROS2 that it relies on. You could port the wrapper to ROS1 Melodic but note that the Isaac VSLAM shared library included in Isaac ROS Visual SLAM repository is built for Jetpack 5.0.2 (Ubuntu 20.0.4/CUDA 11.4), so there may be complications.