This package is a simple implementation of a complete Monocular Visual Odonetry pipeline with the most essential features, viz. initialization of 3D features, feature tracking between two frames, pose estimation using 2D<->3D correspondences and triangulation of new landmarks.
A bag file from the kitti dataset can be found here
For kitti dataset
roslaunch odometry odometry_kitti_node.launch
For Basler dataset
roslaunch odometry odometry_pylon_node.launch