This example demonstrates how to launch camera node in ROS2 with rs_launch.py launch file and how to override some parameters of the launch file through the command line:
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true align_depth.enable:=true
This will stream all sensors that are enabled in the launch file (Depth, Color, Gyro, Accel) and publish on the appropriate ROS2 topics
By overriding the pointcloud and align_depth enable parameters, we are enabling these post processing filters although both of them were turned off in the launch file.
Updated 2 months ago