Working on NX with cartographer

Is it possible for Jetson Xavier NX to work with cartographer directly without using Isaac Sim?
I suppose that we can use the cartographer on Jetson Xavier NX directly but, we are not able to utilize it with Isaac Sim on Jetson Xavier NX because of the below:
https://docs.nvidia.com/isaac/archive/2019.2/packages/navigation/doc/cartographer.html
“Cartographer requires computational resources that may exceed those of edge devices. Thus the sample presented takes in recorded log data rather than running on edge devices directly. The sample application performs 2D mapping, assuming Carter robot hardware.”