How to use realsense 435i on DOPE (about ros2 topic node)

[umegan]

On the quickrun page, I was able to run ros2 bag but don't know how to replace it with realsense 435i.

isaac_ros_dope lauch code:

ros2 launch isaac_ros_dope isaac_ros_dope_tensor_rt.launch.py model_file_path:=/tmp/models/redbull_60.onnx engine_file_path:=/tmp/models/redbull_60.plan

realsense lauch code:

ros2 run realsense2_camera realsense2_camera_node

realsense topic:

/color/camera_info /color/image_raw

rosbag info:

Files: dope_rosbag_0.db3 Bag size: 6.0 MiB Storage id: sqlite3 Duration: 0.5s Start: Oct 10 2023 03:46:35.884 (1696877195.884) End: Oct 10 2023 03:46:35.889 (1696877195.889) Messages: 2 Topic information: Topic: /camera_info | Type: sensor_msgs/msg/CameraInfo | Count: 1 | Serialization Format: cdr Topic: /image | Type: sensor_msgs/msg/Image | Count: 1 | Serialization Format: cdr

rqt grapth of rosbag and image resize node