realsense launch and node added are added.

deploy/launch_files/realsense.launch.py

@@ -18,8 +18,8 @@ def generate_launch_description():
                     'enable_color': True,
                     'enable_depth': True,
                     'depth_module.emitter_enabled': 1,
-                    'rgb_camera.profile':'640x480x30',
-                    'depth_module.profile': '640x480x30',
+                    'rgb_camera.color_profile':'640x480x30',
+                    'depth_module.depth_profile': '640x480x30',
                     'enable_gyro': True,
                     'enable_accel': True,
                     'gyro_fps': 400,

docker/Dockerfile.realsense

@@ -23,3 +23,13 @@ COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh
 
 # Copy custom udev rules file
 COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules
+
+# Clone and compile the realsense ros
+RUN mkdir -p /home/realsenes-ws/src && cd /home/realsenes-ws/src && \
+    git clone https://github.com/IntelRealSense/realsense-ros.git && \  
+    cd .. && \ 
+    source /opt/ros/humble/setup.bash && \
+    colcon build --symlink-install
+
+# add the source to the bashrc
+RUN echo "source /home/realsenes-ws/install/setup.bash" >> /root/.bashrc

docker/scripts/workspace-entrypoint.sh

@@ -20,5 +20,5 @@ sudo service udev restart
 export CMAKE_PREFIX_PATH=/workspace/unitree_ros2/cyclonedds_ws/install/cyclonedds/
 python3 -m pip install --upgrade pip
 cd /workspaces/Go2Py/ && python3 -m pip install -e .
-
+source /home/realsenes-ws/install/setup.bash
 $@