High load on network because of 16 image topics published per camera!

DailyNir · March 4, 2024, 3:01pm

i am running 2 zedx mini with the examples of ros2 cameras and default is publishing 16 image transport topics each which is not needed. where can i disable it and choose which topics i need it publishes way to much data to my network.

Myzhar · March 4, 2024, 3:43pm

Hi @DailyNir
all the topics are only advertised.
The relative messages are published only if other nodes subscribe to the advertised topics, so there is no network overhead if nodes do not subscribe to topics.

ItsNotSoftware · April 8, 2025, 10:30am

Even though topics are just advertised, for things like recording a rosbag this implies manually selecting topics every time to avoid having very large files, also things like searching for available topics become very cluttered. Is there a way to just disable the non needed topics?

Myzhar · April 8, 2025, 10:32am

The ZED ROS2 Wrapper is open-source.
You can manually disable topic advertising by commenting out the part of the code that is not useful to you:

github.com

stereolabs/zed-ros2-wrapper/blob/master/zed_components/src/zed_camera/src/zed_camera_component.cpp#L3392-L3870


      
          void ZedCamera::initPublishers()
          {
            RCLCPP_INFO(get_logger(), "*** PUBLISHED TOPICS ***");
          
            // ----> Topics names definition
            std::string rgbTopicRoot = "rgb";
            std::string rightTopicRoot = "right";
            std::string leftTopicRoot = "left";
            std::string stereoTopicRoot = "stereo";
            std::string img_topic = "/image_rect_color";
            std::string img_raw_topic = "/image_raw_color";
            std::string img_gray_topic = "_gray/image_rect_gray";
            std::string img_raw_gray_topic_ = "_gray/image_raw_gray";
            std::string raw_suffix = "_raw";
            std::string left_topic = mTopicRoot + leftTopicRoot + img_topic;
            std::string left_raw_topic =
              mTopicRoot + leftTopicRoot + raw_suffix + img_raw_topic;
            std::string right_topic = mTopicRoot + rightTopicRoot + img_topic;
            std::string right_raw_topic =
              mTopicRoot + rightTopicRoot + raw_suffix + img_raw_topic;

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