SLAM on TX2

Has anyone successfully SLAM with navigation (move_base/ROS) and Realsense on TX2?
I tried gmapping but it is kind of slow (using same configuration that I has successfully run on my laptop).

ORB2 slam is faster on tx2 but cannot work directly with move_base.

Appreciate any suggestions. Thanks.

robotdreamers,
I’m trying to get an application running with SLAM on realsense. Did you get this to successfully work? Would you be willing to share your work?