ZED 2i ROS2 Wrapper Question

Hi I just wonder how to only publish certain topics in the zed ros2 wrapper? because it publishes too many topics that it makes my jetson nano slow. I only want its odometry and depth image to be published by the zed node, that’s it. Thanks!

Hi @AddyPete
the topics are only advertised, they are not published unless other nodes subscribe to them.

What is the configuration you use with the nano? The cause of the slowing down is surely related to that.

How can i check the configuration you meant? The only config i know is I set it to MAXN mode. Thanks

The ROS 2 node configuration is in common.yaml and zed2i.yaml files: