Very low framerate if publish_urdf is set to false

[BenjaminKrummenacher]

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

When i launch the Zed2i with the default launchfile and set 'publish_urdf' to false, the images are only published with a frequency of ~1 HZ, instead of 15 HZ. With just the default launchfile, it runs normally with 15 HZ.

Steps to Reproduce

1. set 'publish_urdf' to false in launchfile
2. roslaunch the changed launchfile

Expected Result

I would expect that the URDF is not published, but the frequency would stay the same.

Actual Result

The frequency drops drastically (to ~1 HZ).

ZED Camera model

ZED2i

Environment

Ubuntu 20.04
Nvidia Jetson Orin AGX
ZED SDK version: 4.0.6
ROS Noetic

Anything else?

No response

[Myzhar]

That's expected if you do not provide the correct TF tree elsewhere. Internally the ZED Wrapper waits for the TFs to be available with a timeout that slows down the operations if the TFs are not ready: https://www.stereolabs.com/docs/ros/zed-node/#transform-frames