Unable to Modify Resolution of RealSense D455 in ROS 2 Humble – Parameters Not Applied

I’m having trouble modifying the resolution and FPS of my Intel RealSense D455 camera using the realsense2_camera package in ROS 2 Humble. Despite specifying different resolutions and FPS values, the camera always defaults to 1280x720 at 30 FPS for the RGB stream and 848x480 at 30 FPS for the depth stream.

I want to reduce the resolution and FPS of the RGB and depth streams to 640x480 at 15 FPS (or lower, like 424x240 at 15 FPS) to reduce the load on my system for use with SLAM. However, the camera isn’t applying the specified parameters, and the topics (e.g., /camera/color/image_raw) are not being published (confirmed with ros2 topic hz).

I’ve attempted multiple parameter formats based on suggestions from the RealSense ROS 2 documentation and GitHub issues:

1. ros2 run realsense2_camera realsense2_camera_node --ros-args \
     -p enable_color:=true \
     -p enable_depth:=true \
     -p enable_infra1:=true \
     -p enable_infra2:=true \
     -p color_profile:="640x480x15" \
     -p depth_profile:="640x480x15" \
     -p enable_accel:=false \
     -p enable_gyro:=false
   2.ros2 run realsense2_camera realsense2_camera_node --ros-args \
     -p enable_color:=true \
     -p enable_depth:=true \
     -p enable_infra1:=true \
     -p enable_infra2:=true \
     -p color_profile:="424x240x15" \
     -p depth_profile:="424x240x15" \
     -p enable_accel:=false \
     -p enable_gyro:=false
   3.ros2 run realsense2_camera realsense2_camera_node --ros-args \
     -p enable_color:=true \
     -p enable_depth:=true \
     -p enable_infra1:=true \
     -p enable_infra2:=true \
     -p rgb_camera.width:=640 \
     -p rgb_camera.height:=480 \
     -p rgb_camera.fps:=15 \
     -p depth_module.width:=640 \
     -p depth_module.height:=480 \
     -p depth_module.fps:=15 \
     -p enable_accel:=false \
     -p enable_gyro:=false
   
   

 For all these commands the log output is same and my log output is as shown below


[INFO] [1748407694.731887433] [camera.camera]: RealSense ROS v4.55.1
[INFO] [1748407694.732648726] [camera.camera]: Built with LibRealSense v2.55.1
[INFO] [1748407694.732794361] [camera.camera]: Running with LibRealSense v2.55.1
[INFO] [1748407695.175092359] [camera.camera]: Device with serial number 337122300631 was found.
[INFO] [1748407695.175561923] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:08.1/0000:03:00.3/usb2/2-2/2-2:1.0/video4linux/video0 was found.
[INFO] [1748407695.175701676] [camera.camera]: Device with name Intel RealSense D455 was found.
[INFO] [1748407695.177941955] [camera.camera]: Device with port number 2-2 was found.
[INFO] [1748407695.178147382] [camera.camera]: Device USB type: 3.2
[INFO] [1748407695.178721784] [camera.camera]: getParameters...
[INFO] [1748407695.181218185] [camera.camera]: JSON file is not provided
[INFO] [1748407695.181404225] [camera.camera]: Device Name: Intel RealSense D455
[INFO] [1748407695.181534200] [camera.camera]: Device Serial No: 337122300631
[INFO] [1748407695.181651030] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:08.1/0000:03:00.3/usb2/2-2/2-2:1.0/video4linux/video0
[INFO] [1748407695.181760306] [camera.camera]: Device FW version: 5.16.0.1
[INFO] [1748407695.181861035] [camera.camera]: Device Product ID: 0x0B5C
[INFO] [1748407695.182012711] [camera.camera]: Sync Mode: Off
[INFO] [1748407695.474642727] [camera.camera]: Stopping Sensor: Depth Module
[INFO] [1748407695.475542702] [camera.camera]: Stopping Sensor: RGB Camera
[INFO] [1748407695.544377603] [camera.camera]: Starting Sensor: Depth Module
[INFO] [1748407695.593715537] [camera.camera]: Open profile: stream_type: Infra(1), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1748407695.594173710] [camera.camera]: Open profile: stream_type: Infra(2), Format: Y8, Width: 848, Height: 480, FPS: 30
[INFO] [1748407695.594321238] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[INFO] [1748407695.642610367] [camera.camera]: Starting Sensor: RGB Camera
[INFO] [1748407695.699983112] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[INFO] [1748407695.716875384] [camera.camera]: RealSense Node Is Up!


I’d appreciate any help in resolving this issue!