Calvin and I worked on making ros commands work with the goal to control the realsense camera with ros commands, similar to the way we can control Handy with the ros commands.
Run the physical camera with roslaunch realsense2_camera rs_camera.launch. Note that you can set specifications like so:
roslaunch realsense2_camera rs_camera.launch align_depth:=true
This makes it publish the aligned depth stream to other available streams such as color or infra-red.