PointCloud Visualization
The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud.
ros2 launch realsense2_camera rs_pointcloud_launch.py
Alternatively, start the camera terminal 1:
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true
and in terminal 2 open rviz to visualize pointcloud.
PointCloud with different coordinate systems
This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together.
ros2 launch realsense2_camera rs_d455_pointcloud_launch.py