RGBD SLAM algorithm on Jetson Nano

is it possible to run efficiently (near real-time) RGBD-based SLAM / Visual odometry on the jetson Nano ?
If yes, wich one would be recommended ? ORBSLAM ? FOVIS ?
Does Isaac SDK have these kind of GEM node for a D435 ?

We have a visual odometry GEM in Isaac which runs fine on Nano. We do not yet have RGBD SLAM in Isaac.