From ed0e600eb574a55c30491b5537e278d15719bbfd Mon Sep 17 00:00:00 2001
From: Hilary Luo <hluo@clearpathrobotics.com>
Date: Thu, 26 Sep 2024 20:27:39 -0400
Subject: [PATCH] Disable theora and compressed depth image transports

---
 turtlebot4_bringup/config/oakd_lite.yaml | 8 ++++++++
 turtlebot4_bringup/config/oakd_pro.yaml  | 8 ++++++++
 2 files changed, 16 insertions(+)

diff --git a/turtlebot4_bringup/config/oakd_lite.yaml b/turtlebot4_bringup/config/oakd_lite.yaml
index b6d4ebc..d1a8201 100644
--- a/turtlebot4_bringup/config/oakd_lite.yaml
+++ b/turtlebot4_bringup/config/oakd_lite.yaml
@@ -20,6 +20,14 @@
       i_publish_topic: false
       i_resolution: '1080'
       i_width: 1280
+    oakd:
+      rgb:
+        preview:
+          image_raw:
+            enable_pub_plugins:
+              - image_transport/compressed
+              - image_transport/ffmpeg
+              - image_transport/raw
     use_sim_time: false
     ffmpeg_image_transport:
       qmax: 24
diff --git a/turtlebot4_bringup/config/oakd_pro.yaml b/turtlebot4_bringup/config/oakd_pro.yaml
index 6c84b2b..a56da4a 100644
--- a/turtlebot4_bringup/config/oakd_pro.yaml
+++ b/turtlebot4_bringup/config/oakd_pro.yaml
@@ -22,6 +22,14 @@
       i_publish_topic: false
       i_resolution: '1080'
       i_width: 1280
+    oakd:
+      rgb:
+        preview:
+          image_raw:
+            enable_pub_plugins:
+              - image_transport/compressed
+              - image_transport/ffmpeg
+              - image_transport/raw
     use_sim_time: false
     ffmpeg_image_transport:
       qmax: 24