Remote Point cloud depth_image_proc launch file for ROS2

point_cloud_xyz_xtion.launch.py

# ROS2 Remote Point Cloud Processing launch file using depth_image_proc
# Using this with Asus Xtion (no RGB) camera. Orange Pi Prime running Openni2 camera node.
# Original code by 808brick https://github.com/ros-perception/image_pipeline/issues/823
# Modified by TinLethax 2023/07/28 +7

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():
    namespace = '/camera'

    container = ComposableNodeContainer(
            name='pcl_remote',
            namespace=namespace,
            package='rclcpp_components',
            executable='component_container',
            composable_node_descriptions=[
                ComposableNode(
                    package='depth_image_proc',
                    plugin='depth_image_proc::PointCloudXyzNode',
                    name='point_cloud_xyz',
                    namespace=namespace,
                    parameters=[{'queue_size': 10}],
                    remappings=[
                        ('image_rect', 'depth/image_raw'),
                        ('camera_info', 'depth/camera_info'),
                        ('points', 'depth/points')
                    ]
                ),
            ],
            output='screen',
    )

    return launch.LaunchDescription([container])