Isaac sim freeze when ros visual slam is being run

Hi,
I’m trying to do a simulation of hardware in the loop. On the “main machine,” I have Isaac Sim, and on the Orin AGX, I have Isaac Sim Nitro. I want to run the example from here. The simulation runs, and sending cmd_vel commands from Orin to the simulation also works. However, when I start running the visual SLAM node, Isaac Sim freezes. I wonder if this is due to some limitations of the ros2 bridge itself or network communication?

RAM Memory on my PC also doesn’t seem to be an issue RTX4090, Driver Version: 550.67 CUDA Version: 12.4
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