Can't get image and pose streams at maximum rate in ROS2

[AndreaLeonardo]

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Required Info
Camera Model	T265
Firmware Version	0.2.0.951
Operating System & Version	Linux (Ubuntu 20.04LTS)
Kernel Version (Linux Only)	4.9.253
Platform	NVIDIA Jetson
SDK Version	2.53.1
Language	C++
Segment	Robot

Issue Description

We are using ROS2 to get streams from librealsense and publish them on topics. We tried to make two different nodes with a pipeline each (one for images and one for pose) and they work at the maximum framerate but not simultaneously(we get No Device Connected Error on one of the nodes). If we use a single node and a single pipeline for both streams we get all the data but the rate is limited to ~60Hz. We have working C++ code at maximum rate with the callback function but this feature doesn't work under ROS2.

How can we get both image and pose streams at matimum rate (200Hz for the pose and 30Hz for the images)?

[mzahana]

@AndreaLeonardo could you please share how you get the pose of T265 using libRealsense SDK?