Well, I got no replies, however, I was able to determine why the registered depth topics didnt work. To get those to work, you have to go to /dev/bus/usb/**Bus_Number**/ where bus number is usb bus number your camera is attached to. In my case it was 003, so /dev/bus/usb/003/. Then do sudo chown username device_number listed on the same line as the bus number from lsusb. In the case of the Astra Pro, you will have two devices (one for each camera). Do the command for both and you should have access to the registered depth topics in ROS.
I just stumbled across this in an unrelated question while trying to get all of the examples in the linux version of the SDK to work (the body mask example requires these commands to work also). Hope this helps someone else.