Disable some topics when in localization mode

[takahiko-hasegawa-hdjp]

Hi

I am using rgb-d input to do localization (after creating a map). Due to the low spec on the pc im running rtabmap on, I want to disable all the topics outside of map-odom tf.

Would that be possible?

I am using rgb and depth image as the only input to do the localization and we have our own wheel odometry that publishes odom to base_link so just need map to odom.

[matlabbe]

Just don't subscribe to any topics other than /tf, rtabmap_ros won't generate others topic if no one is subscribed to them.