I 'd like to split the code into two parts so that part of it runs on my PC and another part run on the Intel board (computer of the robot) at the same time and connects between them using WiFi. my issue: I am running the code for vision-based tracking and map using lidar data. As a result, the frame per second is low and the robot's movement is not smooth. So, I'd like to run the code vision-based tracking on my PC and another part based on lidar data on the computer of the robot.
if it is possible. Please help me or any suggestions and what are its disadvantages?.
I think that you could run the vision-based part of the system in your PC and the movement functionality in the robot. Assuming that you have the code parts running in individual nodes, you can follow this guide Running ROS over multiple computers or the official guide and set up your system.
Doing that the onboard computer will handle the low-level stuff and the PC the computationally demanding part (+ rviz).