zed_wrapper and disparity topic

[paaraujo]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I am using the driver with a ZED 2i and I noticed that the topic containing the disparity image is not published. I checked all the config files and I didn't find any option to enable/disable that.

Steps to Reproduce

1. Install ROS
2. Download SDK
3. Install wrapper
4. Connect camera to laptop
5. Start roscore
6. roslaunch zed_wrapper zed2i.launch

Expected Result

See all topics listed in the ZED website.

Actual Result

I can't see the topic disparity/disparity_image

ZED Camera model

ZED2i

Environment

OS: Ubuntu 20.04
CPU: Core i7
GPU: Nvidia GeForce 3600
SDK: 3.7.2
ROS: Noetic

Anything else?

No response

[Myzhar]

Hi @paaraujo the topic is automatically published when the node starts, there are no option to enable/disable it:

walter@walter-desktop ~ $ ros2 topic list | grep disparity
/zed2i/zed_node/disparity/disparity_image

[github-actions[bot]]

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