diff --git a/sci-libs/rtabmap/Manifest b/sci-libs/rtabmap/Manifest
index 41c1592e6c9a6..e7933fa5f3ab9 100644
--- a/sci-libs/rtabmap/Manifest
+++ b/sci-libs/rtabmap/Manifest
@@ -1 +1,2 @@
+DIST rtabmap-0.21.13.tar.gz 22123997 BLAKE2B 166c31ac915519ba219cea4c7b12b603164b519dae5d60d5e784f41849bef339792d3384cda0e961a670275887b56a6d0689d08a9307dd217c9568bbd91a199f SHA512 aa7cb389e426c75b69243ec3f4789c48c1cff6103e752df1f69710138213d2c8fbd9f0dbe226ed9eee159db71ed99723adabf5f4323bfb9317f83a8dc7c5647a
 DIST rtabmap-0.21.4.tar.gz 21963687 BLAKE2B aa1cd455624a5a0ac4529fe6f8cd95500a4e247cc71d40041d813ed551e7f0026ad73b2a7e37869cc600aacaac5d5aea5934ebc8f888bcfa2bb21359451c6f23 SHA512 72a0d2247485008c8656a6806aa0e062759debdf1ce05a6e15e73474f531e4f4d91f77b3f9f21bf01038a6cdee46aecfa2f1728537ac9571f97085b878879172
diff --git a/sci-libs/rtabmap/rtabmap-0.21.13.ebuild b/sci-libs/rtabmap/rtabmap-0.21.13.ebuild
new file mode 100644
index 0000000000000..524d46e137c6f
--- /dev/null
+++ b/sci-libs/rtabmap/rtabmap-0.21.13.ebuild
@@ -0,0 +1,60 @@
+# Copyright 1999-2025 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=8
+
+VER_SUFFIX=noetic
+inherit cmake
+
+if [[ ${PV} == *9999* ]]; then
+	inherit git-r3
+	EGIT_REPO_URI="https://github.com/introlab/rtabmap"
+else
+	SRC_URI="https://github.com/introlab/rtabmap/archive/refs/tags/${PV}-${VER_SUFFIX}.tar.gz -> ${P}.tar.gz"
+	S="${WORKDIR}/${P}-${VER_SUFFIX}"
+	KEYWORDS="~amd64"
+fi
+
+DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)"
+HOMEPAGE="https://introlab.github.io/rtabmap/"
+
+LICENSE="BSD"
+SLOT="0"
+IUSE="examples ieee1394 openni2 qt6"
+
+RDEPEND="
+	dev-cpp/yaml-cpp:=
+	dev-libs/boost:=
+	media-libs/opencv:=[qt6(-)?]
+	sci-libs/octomap:=
+	sci-libs/pcl:=[openni,vtk,qt6(-)?]
+	sci-libs/vtk:=[qt6(-)?]
+	sys-libs/zlib
+	ieee1394? ( media-libs/libdc1394:2= )
+	openni2? ( dev-libs/OpenNI2 )
+	qt6? (
+		dev-qt/qtbase:6[gui,widgets]
+		dev-qt/qtsvg:6
+	)
+"
+DEPEND="${RDEPEND}"
+BDEPEND="virtual/pkgconfig"
+
+src_configure() {
+	local mycmakeargs=(
+		-DRTABMAP_QT_VERSION=6
+		-DWITH_QT=$(usex qt6)
+		-DWITH_DC1394=$(usex ieee1394)
+		-DWITH_OPENNI2=$(usex openni2)
+		-DBUILD_EXAMPLES=$(usex examples)
+	)
+	cmake_src_configure
+}
+
+src_install() {
+	cmake_src_install
+	# Needed since we force ros crawling to be done only in
+	# /usr/share/ros_packages/
+	insinto /usr/share/ros_packages/${PN}
+	doins "${ED}/usr/share/${PN}/package.xml"
+}