You will have to build RTAB-Map-ros RTABMAP Octomap-ros and a few other pieces to make this work on ROS Melodic. Since Xavier runs 18.04 you will need to run this version of ROS. Video and graphics are butter smooth. Almost 60% idle on the cpu cluster while running. Its sweet very sweet. Home run Nvidia. https://youtu.be/auho-6XVvFM
Would you be as kind as to do a write up on the steps it would take to install ZED and RTABMAP ROS MELODIC for the Xavier?