Zed-ros-wrapper depth and image not match

I am using ZED2i with ROS. the depth data and camera image data do not match. How can I integrate the left and right images and convert them into an image that corresponds to depth?

Hi @soramaru
Welcome to the Stereolabs community.
I apologize, but what you say is not possible.

Can you please provide more information?
What does not match?
What configuration are you using?
… other information that can be useful to understand the problem

The problem is that the origin of depth and the origin of image (from left camera) are different. I want to get the image seen from the origin of depth.

Hi @soramaru
I confirm that this is not possible.
The stereo vision processing ensures automatic synchronization of RGB and depth information.

Where can I get its RGB information synchronized depth information? (example ros topic name)

Full online documentation: