Removed unused parameters from the configuration file.

Added the necessary nodes to create the depth registered pointcloud aligned with the color camera.

config/realsense_d435_default_config.yaml

-manager: 'realsense2_camera_manager'
 serial_no: ''
-tf_prefix: ''
 json_file_path: ''
 rosbag_filename: ''
-depth: 'depth'
-infra1: 'infra1'
-infra2: 'infra2'
-rgb: 'color'
-fisheye: 'fisheye'
-accel: 'accel'
-gyro: 'gyro'
-
-fisheye_width: 640
-fisheye_height: 480
-enable_fisheye: true
 
 depth_width: 640
 depth_height: 480
@@ -31,13 +18,10 @@ color_width: 640
 color_height: 480
 enable_color: true
 
-fisheye_fps: 30
 depth_fps: 30
 infra1_fps: 30
 infra2_fps: 30
 color_fps: 30
-gyro_fps: 1000
-accel_fps: 1000
 enable_imu: true
 
 enable_pointcloud: false
@@ -45,26 +29,6 @@ pointcloud_texture_stream: 'RS2_STREAM_COLOR'
 pointcloud_texture_index: 0
 
 enable_sync: false
-align_depth: false
-  
-base_frame_id: camera_link
-depth_frame_id: camera_depth_frame
-infra1_frame_id: camera_infra1_frame
-infra2_frame_id: camera_infra2_frame
-color_frame_id: camera_color_frame
-  
-depth_optical_frame_id: camera_depth_optical_frame
-infra1_optical_frame_id: camera_infra1_optical_frame
-infra2_optical_frame_id: camera_infra2_optical_frame
-color_optical_frame_id: camera_color_optical_frame
-fisheye_optical_frame_id: camera_fisheye_optical_frame
-accel_optical_frame_id: camera_accel_optical_frame
-gyro_optical_frame_id: camera_gyro_optical_frame
+align_depth: true
   
-aligned_depth_to_color_frame_id: camera_aligned_depth_to_color_frame
-aligned_depth_to_infra1_frame_id: camera_aligned_depth_to_infra1_frame
-aligned_depth_to_infra2_frame_id: camera_aligned_depth_to_infra2_frame
-aligned_depth_to_fisheye_frame_id: camera_aligned_depth_to_fisheye_frame
-
 filters: ''
-

launch/realsense.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-  <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
+  <arg name="config_file" default="$(find iri_realsense_depth_bringup)/config/realsense_d435_default_config.yaml" />
+  <arg name="camera_name" default="camera"/>
+  <arg name="tf_prefix" default=""/>
+  <arg name="output" default="log"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="manager" default="$(arg camera_name)_manager"/>
+
+  <group ns="$(arg camera_name)">
+    <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" launch-prefix="$(arg launch_prefix)"/>
+    <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)">
+      <rosparam file="$(arg config_file)" command="load" />
+      <param name="base_frame_id"            type="str"  value="$(arg tf_prefix)/camera_link"/>
+      <param name="depth_frame_id"           type="str"  value="$(arg tf_prefix)/camera_depth_frame"/>
+      <param name="infra1_frame_id"          type="str"  value="$(arg tf_prefix)/camera_infra1_frame"/>
+      <param name="infra2_frame_id"          type="str"  value="$(arg tf_prefix)/camera_infra2_frame"/>
+      <param name="color_frame_id"           type="str"  value="$(arg tf_prefix)/camera_color_frame"/>
+
+      <param name="depth_optical_frame_id"   type="str"  value="$(arg tf_prefix)/camera_depth_optical_frame"/>
+      <param name="infra1_optical_frame_id"  type="str"  value="$(arg tf_prefix)/camera_infra1_optical_frame"/>
+      <param name="infra2_optical_frame_id"  type="str"  value="$(arg tf_prefix)/camera_infra2_optical_frame"/>
+      <param name="color_optical_frame_id"   type="str"  value="$(arg tf_prefix)/camera_color_optical_frame"/>
+
+      <param name="aligned_depth_to_color_frame_id"   type="str"  value="$(arg tf_prefix)/camera_aligned_depth_to_color_frame"/>
+      <param name="aligned_depth_to_infra1_frame_id"  type="str"  value="$(arg tf_prefix)/camera_aligned_depth_to_infra1_frame"/>
+      <param name="aligned_depth_to_infra2_frame_id"  type="str"  value="$(arg tf_prefix)/camera_aligned_depth_to_infra2_frame"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="color_rectify_color"
+          args="load image_proc/rectify $(arg manager)" respawn="false">
+      <remap from="image_mono" to="color/image_raw" />
+      <remap from="image_rect" to="color/image_rect_color" />
+    </node>
+
+    <!-- Publish registered XYZRGB point cloud with hardware registered input (ROS Realsense depth alignment) -->
+    <node pkg="nodelet" type="nodelet" name="points_xyzrgb_hw_registered"
+          args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="false">
+      <remap from="rgb/image_rect_color"        to="color/image_rect_color" />
+      <remap from="rgb/camera_info"             to="color/camera_info" />
+      <remap from="depth_registered/image_rect" to="aligned_depth_to_color/image_raw" />
+      <remap from="depth_registered/points"     to="depth_registered/points" />
+    </node>
+  </group>
 
-  <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
-    <rosparam file="$(arg config_file)" command="load" />
-  </include>
 </launch>
 

launch/realsense_test.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-  <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
+  <arg name="config_file" default="$(find iri_realsense_depth_bringup)/config/realsense_d435_default_config.yaml" />
+  <arg name="camera_name" default="camera"/>
 
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d435_camera.urdf.xacro'" />
 
   <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
-    <arg name="config_file"  value="$(arg config_file)"/>
+    <arg name="config_file" value="$(arg config_file)"/>
+    <arg name="camera_name" value="$(arg camera_name)"/>
   </include>
 
   <node name="rviz"
         pkg="rviz"
         type="rviz"
-        args="-d $(find iri_bno055_imu_bringup)/rviz/bno055_imu.rviz"/>
+        args="-d $(find iri_realsense_depth_bringup)/rviz/realsense_depth.rviz"/>
 
 </launch>