decoupling color/depth image rate

[toblerjuan]

Preliminary Checks

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

Proposal

Currently, the publishing rates of color images and the depth images are tied together. I am working on a system where due to hardware limitations the rate at which depth images is processed is lower than colored images even when using NEURAL_LIGHT (as seen using the /diagnostics topic).

I don't need the depth images to be published at the same rate as the color images, so it would be beneficial for me to be able to decrease the rate of grabbing depth images compared to color images. I can already see in the wrapper that whether or not the depth data is grabbed depends on the mDepthDisabled member, so I am assuming it is somehow possible to toggle it on/off. Would it be possible to implement a launch parameter that allows setting the depth rate independent of the color image rate?

Use-Case

No response

Anything else?

No response

[Myzhar]

You can disable the depth processing at any time by calling the service enable_depth with "true"/"false" as parameter.