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How much bandwidth do you have? Based on this tutorial and that answer, you may get 600 KB/sec for 5 Hz images or 4.5MB/sec for 30 Hz images. For stereo odometry, it is preferred that you have at least 10-15 Hz, which would be between 1 and 2 MB/sec. Another option is to do visual odometry onboard (if the onboard computer can compute odometry over 10 Hz), but SLAM remotely. As rtabmap is updating only at 1 Hz (by default), you would only need to publish images at 1 Hz out of the robot with the odometry computed.

cheers,
Mathieu