Weitung Chen

@Myzhar Thanks for the clarification. I quickly scan through the change log and it seems like it has something to do with this: https://docs.ros.org/en/foxy/Releases/Release-Galactic-Geochelone.html#externally-configure-qos-at-start-up, and maybe tf2_ros did the external...

I also did a quick test by setting `result.successful = true;` in that else clause and it successfully launches.

@niravsculptsoft Have you managed to get the ARCore data to work? I wonder how did you to the poses transformation?