disable depth mode

src/hardware/sensors/config/zed_camera.yaml

@@ -41,7 +41,7 @@
         depth:
             min_depth: 0.2 # Min: 0.2, Max: 3.0
             max_depth: 20.0 # Max: 40.0
-            depth_mode: 'PERFORMANCE' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+            depth_mode: 'NONE' # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
             depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
             point_cloud_freq: 1.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
@@ -54,7 +54,7 @@
             qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
 
         pos_tracking:
-            pos_tracking_enabled: true # True to enable positional tracking from start
+            pos_tracking_enabled: False # True to enable positional tracking from start
             pos_tracking_mode: 'QUALITY' # Matches the ZED SDK setting: 'QUALITY', 'STANDARD'
             imu_fusion: true # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
             publish_tf: false # [usually overwritten by launch file] publish `odom -> camera_link` TF