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You can make a launch file and use remapping to convert the names of the topics produced by the ZED node so that it will work with the apriltags2_ros package.

Remapping allows you to change the name of a topic that is used internally by a node to a different topic name when seen outside of that node. So in your case you could use two remaps inside the ZED node, to remap from left/image_rect_color to image_rect and from left/camera_info to camera_info.

You can then start the apriltags node in the launch file and it should connect the required topics to the ZED node.