online_01_runcam.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from ament_index_python.packages import get_package_prefix

def generate_launch_description():
    # Get realsense2_camera package path
    # realsense2_camera_prefix = get_package_prefix('realsense2_camera')

    # # Define the nodes
    # realsense_node = Node(
    #     package='realsense2_camera',
    #     executable='realsense2_camera_node',
    #     name='realsense2_camera_node',
    #     parameters=[{
    #         'rgb_camera.profile': '1920x1080x30'
    #     }],
    #     output='screen'
    # )

    # ros2 bag record command
    record_node = ExecuteProcess(
        cmd=['ros2', 'bag', 'record', '--all'],
        output='screen'
    )

    # rviz2 command
    rviz_node = ExecuteProcess(
        cmd=[get_package_prefix('rviz2') + '/lib/rviz2/rviz2', '-d','.l.rviz/realsense.rviz'],
        output='screen'
    )

    # cam2image command
    cam2image_node = Node(
        package='image_tools',
        executable='cam2image',
        name='cam2image_node',
        parameters=[{
            'device_id': 2,
            'width': 1280,
            'height': 720,
            'frequency': 30.0
        }],
        output='screen'
    )

    # republish command
    republish_node = Node(
        package='image_transport',
        executable='republish',
        name='republish_node',
        arguments=['raw', 'in:=image', 'raw', 'out:=/camera/image_raw'],
        output='screen'
    )

    return LaunchDescription([
        
        #record_node,
        rviz_node,
        cam2image_node,
        republish_node
    ])