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If recording a bag file decreases your performance that much, then I don't think the issue is with r_l. I've run it on an Odroid U3 before at 75 Hz and never had the problem you're describing.

In any case, yes, you can just record the raw sensor data and run the EKF on the bagged data. The EKF doesn't know when it's running from a bag or from live data.

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