is there a way to have uncompressed depth image topic?

[IacopoFornai]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Select One

OS

Ubuntu 22.04

Built from source or installed?

Built from Source

Package version

#depth

Type of issue

Camera

Expected behaviour

i would like to have depth-image in an uncompressed format to run visual odometry (rtabmap),

Actual behaviour

so far i have only compressed depth image topic (/turtlebot4_4/oakd/rgb/preview/image_raw/compressedDepth),

Error messages

No response

To Reproduce

ros2 topic list

Other notes

No response

[RustyCPR]

Hi there,
Depth topics are not enabled by default.
To enable the OAK-D depth functionality please follow this response.
This is one of the areas where we would like to create manual tutorials - if you find a process that works for you - please let us know.
Thanks,
Rusty