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I partially solved the problem, i used rosrun rqt_reconfigure rqt_reconfigure to change the parameters of the topic /zed2i/zed_node/depth/depth_registered/compressedDepth. By changing compression type from png to rvl the depth image is now received at 10 Hz (and consumes 2.8MB of bandwidth), the same result can be obtained with png compression by setting png quality and quantization to a lower number

I partially solved the problem, i used rosrun rqt_reconfigure rqt_reconfigure rqt_reconfigure to change the parameters of the topic /zed2i/zed_node/depth/depth_registered/compressedDepth. /zed2i/zed_node/depth/depth_registered/compressedDepth.

By changing compression type from png to rvl the depth image is now received at 10 Hz (and consumes 2.8MB of bandwidth), the same result can be obtained with png compression by setting png quality and quantization to a lower number

I partially solved the problem, i used rosrun rqt_reconfigure rqt_reconfigure to change the parameters of the topic /zed2i/zed_node/depth/depth_registered/compressedDepth.

By changing compression type from png to rvl the depth image is now received at 10 Hz (and consumes 2.8MB of bandwidth), the same result can be obtained with png compression by setting png quality and quantization to a lower numbernumber.

I partially solved the problem, i used rosrun rqt_reconfigure rqt_reconfigure to change the parameters of the topic /zed2i/zed_node/depth/depth_registered/compressedDepth.

By changing compression type from png to rvl the depth image is now received at 10 Hz (and consumes 2.8MB 2.8MB/s of bandwidth), the same result can be obtained with png compression by setting png quality and quantization to a lower number.

These parameters can then be set in the same launch file that launches the zed camera so that everything is done automatically

I partially solved the problem, i used rosrun rqt_reconfigure rqt_reconfigure to change the parameters of the topic /zed2i/zed_node/depth/depth_registered/compressedDepth.

By changing compression type from png to rvl the depth image is now received at 10 Hz (and consumes 2.8MB/s of bandwidth), the same result can be obtained with png compression by setting png quality and quantization to a lower number.

These parameters can then be set in the same launch file that launches the zed camera so that everything is done automaticallyautomatically.