Very cool -- would've loved to also see monocular SLAM support, but sounds like that may be coming later.

For people interested, there are a couple of very interesting projects and studies on how to do just that:

* Direct Sparse Odometry: http://vision.in.tum.de/research/vslam/dso

* LSD-SLAM: https://github.com/tum-vision/lsd_slam

LSD-SLAM and Cartographer both support ROS so perhaps integrating the two would be fairly straightforward (using LSD-SLAM's monocular features with Cartographer for SLAM).