Autonomous Robot with Realsense Cameras

Hi all, I built an autonomous robot on a Raspberry Pi 4 using the D435 and T265. Check out my video: https://www.youtube.com/watch?v=QCOK8_6Ujdg

Both cameras work great, however the T265 crashes occasionally. I have an issue open for that but so far no movement: https://github.com/IntelRealSense/librealsense/issues/6362