Improve NO DEPTH mode

CHANGELOG.rst

@@ -1,6 +1,11 @@
 CHANGELOG
 =========
 
+2023-09-10
+----------
+- Change the parameter 'depth/quality' to 'depth/depth_mode' and replace numeric values with strings
+- Improve the behavior of the "NO DEPTH" mode
+
 2023-09-08
 ----------
 - Add `pos_tracking/set_gravity_as_origin` parameter. If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.

zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp

@@ -545,7 +545,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     sl::RESOLUTION mCamResol;
     int mCamFrameRate;
     double mVideoDepthFreq = 15.;
-    sl::DEPTH_MODE mDepthMode;
+    sl::DEPTH_MODE mDepthMode = sl::DEPTH_MODE::ULTRA;
     int mGpuId;
     int mZedId;
     int mDepthStabilization;
@@ -573,14 +573,15 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     bool mFloorAlignment = false;
     bool mImuFusion = true;
     bool mSetGravityAsOrigin = false;
-    
+
     // Flags
     bool mGrabActive = false; // Indicate if camera grabbing is active (at least one topic subscribed)
     sl::ERROR_CODE mConnStatus;
     sl::ERROR_CODE mGrabStatus;
     sl::POSITIONAL_TRACKING_STATE mPosTrackingStatus;
     bool mSensPublishing = false;
     bool mPcPublishing = false;
+    bool mDepthDisabled = false;
 
     // Last frame time
     ros::Time mPrevFrameTimestamp;