I’m trying to launch my ZED2i camera in ROS using Jetson Xavier NX. The Zed-Ros-Wrapper works well, however I noticed that launching the wrapper node will consume a lot of resource of the machine, this causes a high latency in video streaming as I launched other nodes. The laggy issue only happens when I launch zed. Therefore my question is, what can I do to reduce the power and resource consumption when I launch zed? Will disabling some of the unused topics helps? Or modifying some of the parts in the source code can help? Any advice or guidance is highly appreciated.