Intel Realsense D455 Ros Topics Explanation

Fristly, thanks in advance for taking the time of reading my post.

I have an inquiry regarding my Intel Realsense D455 camera, in particular regarding the official ROS driver, which can be found here on GIT: https://github.com/IntelRealSense/realsense-ros

I have read the information available publicly regarding this driver, but haven't found any in depth explanation of what the topics are publishing. I know using ROS I can use rostopic info or rosmsg info in order to retrieve information regarding each one of the topics, such as message type as well as more details on its attributes. However, I wanted to see if there's any documentation available that could give me more details on how they are computed in order for me to determine what's more useful in my particular use case?

For example, I want my robot to stay in the center in between two walls while going on a straight line. Naturally, I can check for the distance to the sides and try to maintain it equal by sending the corresponding commands to the motor controller. However, I would like to know which topic is the most adequate to read in order to achieve this. Would it be /camera/depth/image_rect_raw OR camera/infra1/image_rect_raw OR camera/infra2/image_rect_raw OR /camera/aligned_depth_to_infra1/image_raw?

Without any detailed documentation on what each of the topics is, it's really hard to determine what information is the most suitable for a particular use case, and what are the pros and cons of each one of these topics. Is such information available anywhere?

Any guidance would be greatly appreciated.

Thanks again.