How to let ros-realsense2 stop publishing some topics

[Pittmann-XIE]

Required Info
Camera Model	{ D405 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{ Linux (Ubuntu 24)}
Kernel Version (Linux Only)	(6.8.0-49-generic)
Platform	PC
Librealsense SDK Version	{2.55.1-1noble.20240702.042211 }
Language	{python }
Segment	{Robot }
ROS Distro	{jazzy}
RealSense ROS Wrapper Version	{4.55.1}

Issue Description

Goal

I want the realsense camera don't publish some specific topics, i.e.: don't publish "camera/color/image_rect_raw" but only publish
"camera/color/image_rect_raw/compressed".

Why I want to do this?

I want to reduce the resource consumption of the ros2 system. Therefore, it may be better to avoid publishing unused topics.

Thanks in advance!

[MartyG-RealSense]

Hi @Pittmann-XIE You can unsubscribe from specific topics after launch, though it is somewhat complicated to do so. References about creating an unsubscription mechanism can be found at #1909 (comment)