ROS launch file to start D435

rovy_d435.launch

<launch>
  <group ns="d435">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="device_type"              value="d435"/>
      <arg name="serial_no"                value=""/>
      <arg name="tf_prefix"                value="d435"/>
      <arg name="initial_reset"            value="true"/>
      <arg name="align_depth"              value="true"/>
      <arg name="filters"                  value="pointcloud"/>
      <arg name="color_width"              value="424"/>
      <arg name="color_height"             value="240"/>
      <arg name="depth_width"              value="480"/>
      <arg name="depth_height"             value="270"/>
      <arg name="depth_fps"                value="15"/>
      <arg name="color_fps"                value="15"/>
      <arg name="clip_distance"            value="-2"/>

      <arg name="enable_infra1"     value="false"/>
      <arg name="enable_infra2"     value="false"/>
      <arg name="enable_sync"       value="false"/>

      <arg name="scan_range_min"       value="0.01"/>
      <arg name="scan_range_max"       value="2.0"/>
      <arg name="scan_height"          value="50"/>
      <arg name="scan_floor_tolerance" value="0.05"/>
    </include>
  </group>
</launch>