Reduce computational power when launching zed


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.

Thank you.

Hi @joewong00
welcome to the Stereolabs community.

To reduce the computational power required by the ZED ROS node you can reduce the grab resolution, the publishing resolution, and/or the framerates: