[RyanShoff]

Adding the profile times in robot.log gives me an average frame rate of 3-4 fps. This is with X running and both color and ir maps displaying on screen. There is a slight lag when putting your hand quickly in front on the camera. It probably is way less than a quarter second. Only two cores are being used.

It is much less laggy that anything I've been able to do with libpcl on the jetson.

With a little work, I think it could work for autonomous navigation.