ZED 2 Publish only Left camera image & Point Cloud


I’ve modified the ZED 2 yaml and launch files to only publish the RGB left lens image and point cloud. However, it seems that it’s still generating transforms and placing my system’s base_link frame at [0.0, 0.0, 0.0] despite having (I think?) turning that off.

Is there a way to only get the ZED 2 ROS Node to publish only RGB images and point clouds?

Hi @Pedroacsilva
the positional tracking is started automatically if some conditions are satisfied.
You can find them here:

For example, if depth stabilization is enabled then the positional tracking module is automatically started even if there are no nodes subscribing to pose or odom topics.

The ZED ROS2 Wrapper is designed to provide access to all the modules of the ZED SDK, so it’s not straightforward to modify it in order to disable some features keeping other enabled.

If you need a simple customized node that provide only a few features, I suggest you write it from scratch.