diff --git a/slam-libraries/viam-cartographer/src/main.cc b/slam-libraries/viam-cartographer/src/main.cc
index 6e27d392..d4fe0f26 100644
--- a/slam-libraries/viam-cartographer/src/main.cc
+++ b/slam-libraries/viam-cartographer/src/main.cc
@@ -37,6 +37,10 @@ int main(int argc, char** argv) {
     builder.AddListeningPort(slamService.port,
                              grpc::InsecureServerCredentials(),
                              selected_port.get());
+    // Increasing the gRPC max message size from the default value of 4MB to
+    // 32MB, to match the limit that is set in RDK. This is necessary for
+    // transmitting large pointclouds.
+    builder.SetMaxSendMessageSize(32 * 1024 * 1024);
     builder.RegisterService(&slamService);
 
     // Start the SLAM gRPC server
diff --git a/slam-libraries/viam-orb-slam3/orbslam_server_v1_main.cc b/slam-libraries/viam-orb-slam3/orbslam_server_v1_main.cc
index fb197023..1c8fa820 100644
--- a/slam-libraries/viam-orb-slam3/orbslam_server_v1_main.cc
+++ b/slam-libraries/viam-orb-slam3/orbslam_server_v1_main.cc
@@ -51,6 +51,11 @@ int main(int argc, char **argv) {
     builder.AddListeningPort(slamService.slam_port,
                              grpc::InsecureServerCredentials(),
                              selected_port.get());
+
+    // Increasing the gRPC max message size from the default value of 4MB to
+    // 32MB, to match the limit that is set in RDK. This is necessary for
+    // transmitting large pointclouds.
+    builder.SetMaxSendMessageSize(32 * 1024 * 1024);
     builder.RegisterService(&slamService);
 
     // Start the SLAM gRPC server