yes... you the depth image is published in the topic
"/camera/depth/image" also the disparity image is published.
Just run "rostopic list" to see what topics were published.
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yes depth_md stores the depth info, but we publish a sensor_msgs/Image
in the topic "/camera/depth/image" which has following encoding:
"sensor_msgs::image_encodings::TYPE_32FC1". So it contains floating
point values which are the z-values for each pixel in the device
coordinate frame. They are in meters - the original depth_md contains
the z-values in millimeters.
I hope, i could help you.