@Jetson-Nano
In SDK 1.2.0 we did start pushing the default config of voxl-mapper a big harder with smaller voxl sizes, longer ray lengths, and double the UI update rate to better complement the newer TOF sensors on the Starling 2. Part of this update was also to lock some of the heavier parts of the mapper processing to cores 4,5,6 to make sure VIO wasn't affected too much. However, if you are still seeing a difference in VIO performance between mapper being on and off then there may still be some optimization to be done.
Just to confirm you are seeing worse VIO performance when mapper is enabled, correct?
If so, please try increasing the voxl_size parameter in /etc/modalai/voxl-mapper.conf from the default 0.1 to 0.25, and set the cpu into performance mode on bootup by changing the normal_cpu_mode field to "performance" in /etc/modalai/voxl-cpu-monitor.conf. The map will be very course and ugly with such a big voxel size but I'm just curious if the power cpu use helps resolve the issue.
For reference, here is the commit history for voxl-mapper showing the recent tweaks for SDK 1.2 and newer that turn up some of the knobs.