Local View errors for Kaya in Gmapping Sample

I am running the mapping sample for Kaya Robot but the Local View Channel is not returning anything. Specifically the channel: gmapping_distributed_kaya/local_map.evidence_local_map/isaac.egm_fusion.EvidenceMapFusion/evidential_local_map
It is red.

Here are my statistics showing that its lateness of over 2900% (not sure why it is late more than 100%, but either way, looks very late).

|=====================================================================================================================|
| Job Statistics Report (regular) |
|=====================================================================================================================|
| Name | Count | Time (Median - 90% - Max) [ms] | Load (%) | Late (%) |
|---------------------------------------------------------------------------------------------------------------------|
| isaac.rgbd_processing.DepthImageFlattening | 5034 | 49.48 | 78.21 | 177.08 | 4.0 % | 0.0 % |
| realsense | 5045 | 234.80 | 250.40 | 722.68 | 16.7 % | 0.0 % |
| color_viewer | 5026 | 9.53 | 11.46 | 69.06 | 0.8 % | 0.0 % |
| depth_viewer | 5041 | 30.26 | 44.41 | 118.61 | 2.4 % | 0.0 % |
| realsense_pose | 5662 | 0.02 | 0.02 | 21.95 | 0.0 % | 0.0 % |
| driver | 8572 | 97.75 | 120.31 | 236.40 | 12.6 % | 10000.0 % |
| imu_hw | 24562 | 2.55 | 2.59 | 65.90 | 1.0 % | 27.3 % |
| holonomic_to_wheels | 25269 | 0.26 | 0.86 | 85.34 | 0.3 % | 0.0 % |
| isaac.alice.BufferAllocatorReport | 378 | 2.10 | 9.87 | 108.05 | 0.0 % | 0.0 % |
| isaac.alice.ConfigBridge | 3 | 0.03 | 0.03 | 0.80 | 0.0 % | 0.0 % |
| InteractiveMarkersBridge | 19286 | 0.01 | 0.01 | 3.45 | 0.0 % | 0.0 % |
| isaac.alice.LifecycleReport | 4527 | 0.00 | 0.01 | 23.62 | 0.0 % | 0.0 % |
| isaac.alice.MessagePassingReport | 378 | 52.83 | 87.08 | 185.19 | 0.3 % | 0.0 % |
| PoseTreeJsonBridge | 19230 | 0.23 | 0.31 | 65.41 | 0.1 % | 2.6 % |
| NodeStatistics | 1133 | 1.28 | 1.60 | 10.21 | 0.0 % | 0.0 % |
| isaac.Joystick | 13046 | 100.21 | 100.23 | 110.78 | 16.7 % | 0.0 % |
| isaac.navigation.RobotRemoteControl | 25592 | 0.08 | 0.13 | 54.70 | 0.0 % | 7.8 % |
| VirtualGamepadBridge | 11257 | 0.05 | 0.06 | 17.96 | 0.0 % | 0.0 % |
| BinaryMapViewer | 8467 | 129.17 | 152.09 | 233.96 | 12.9 % | 0.0 % |
| isaac.egm_fusion.EvidenceMapFusion | 21285 | 6.43 | 24.87 | 114.25 | 3.7 % | 2915.2 % |
| isaac.egm_fusion.EvidenceMapInpaint | 20773 | 0.48 | 0.68 | 64.05 | 0.2 % | 0.0 % |
| isaac.egm_fusion.EvidenceToBinaryMap | 20166 | 0.32 | 0.40 | 82.07 | 0.2 % | 0.0 % |
| isaac.navigation.BinaryToDistanceMap | 20161 | 19.04 | 28.99 | 123.94 | 6.5 % | 0.0 % |
| EvidenceGridMapViewer | 21281 | 4.30 | 6.40 | 111.73 | 1.7 % | 0.0 % |
| isaac.message_generators.LatticeGenerator | 25621 | 0.03 | 0.06 | 55.18 | 0.0 % | 21.1 % |
| EvidenceGridMapViewer | 20744 | 4.28 | 5.52 | 100.06 | 1.7 % | 0.0 % |
| isaac.message_generators.LatticeGenerator | 25593 | 0.05 | 0.09 | 43.98 | 0.0 % | 15.2 % |
| EvidenceGridMapViewer | 5030 | 4.42 | 8.10 | 64.64 | 0.5 % | 0.0 % |
| isaac.egm_fusion.RangeScanToEvidenceMap | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| EvidenceGridMapViewer | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| isaac.egm_fusion.RangeScanToEvidenceMap | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| EvidenceGridMapViewer | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| isaac.egm_fusion.RangeScanToEvidenceMap | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| EvidenceGridMapViewer | 0 | 0.00 | 0.00 | -inf | 0.0 % | 0.0 % |
| isaac.message_generators.LatticeGenerator | 25607 | 0.03 | 0.07 | 39.05 | 0.0 % | 18.0 % |
| isaac.message_generators.LatticeGenerator | 25614 | 0.04 | 0.07 | 56.71 | 0.0 % | 17.2 % |
| isaac.message_generators.LatticeGenerator | 25602 | 0.03 | 0.07 | 42.80 | 0.0 % | 14.8 % |
| isaac.message_generators.LatticeGenerator | 25602 | 0.04 | 0.07 | 39.61 | 0.0 % | 13.7 % |
| isaac.egm_fusion.RangeScanToEvidenceMap | 5031 | 1.47 | 1.79 | 64.67 | 0.1 % | 0.0 % |
| ImuCorrector | 24492 | 0.19 | 0.26 | 79.61 | 0.2 % | 0.0 % |
| HolonomicBaseWheelImuOdometry | 25419 | 0.30 | 0.39 | 82.86 | 0.3 % | 177.0 % |
| WebsightServer | 4717 | 5.15 | 7.55 | 4883.00 | 16.7 % | 0.0 % |
|=====================================================================================================================|

Additionally, the lag on the imaging is 1-2 seconds. Is there a way to decrease that? It doesn’t seem it should have such a large lag, unless that is just one of the limitations of the system (which does seem disappointing). I am running it on my local network and when I run other camera based robot applications on my jetson nano it is far less lagging (such as on a jetbot).

Thank you for any help.

Would anyone have an idea on how I should go about trying to solve this?

Thank you.