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Thanks the link you suggested gave me my solution.

Within one application I can directly specify transport when subscribing with TransportHints:

imageTransportSub_ = imageTransport_.subscribe(cameraTopic, 1, &App::imageCallback, this, image_transport::TransportHints("compressed")); imageDepthTransportSub_ = imageTransport_.subscribe(cameraDepthTopic, 1, &App::imageDepthCallback, this, image_transport::TransportHints("compressedDepth"));

Thanks the link you suggested gave me my solution.

Within one application I can directly specify transport when subscribing with TransportHints:

imageTransportSub_ = imageTransport_.subscribe(cameraTopic, 1, &App::imageCallback, this, image_transport::TransportHints("compressed")); image_transport::TransportHints("compressed"));

imageDepthTransportSub_ = imageTransport_.subscribe(cameraDepthTopic, 1, &App::imageDepthCallback, this, image_transport::TransportHints("compressedDepth"));