fix : syntax error depth image proc xyzrgbcore.launch.py

isaac_ros_depth_image_proc/launch/isaac_ros_depth_image_proc_point_cloud_xyzrgb_core.launch.py

@@ -16,38 +16,50 @@
 # SPDX-License-Identifier: Apache-2.0
 
 from typing import Any, Dict
-
 from isaac_ros_examples import IsaacROSLaunchFragment
 import launch
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 
 
 class IsaacROSPointCloudXyzrgbLaunchFragment(IsaacROSLaunchFragment):
-
     @staticmethod
     def get_composable_nodes(interface_specs: Dict[str, Any]) -> Dict[str, ComposableNode]:
         return {
             'point_cloud_xyzrgb_node': ComposableNode(
                 package='isaac_ros_depth_image_proc',
                 plugin='nvidia::isaac_ros::depth_image_proc::PointCloudXyzrgbNode',
                 name='point_cloud_xyzrgb',
-                namespace=''
+                namespace='',
+                remappings=[
+                    ('depth_registered/image_rect', 'depth_registered/image_rect'),
+                    ('rgb/image_rect_color', 'rgb/image_rect_color'),
+                    ('rgb/camera_info', 'rgb/camera_info'),
+                    ('points', '/points')
+                ],
+                parameters=[{
+                    'queue_size': 10
+                }]
             )
         }
 
 
 def generate_launch_description():
+    # Pass an empty dict for interface_specs
+    interface_specs = {}
+
     point_cloud_xyzrgb_container = ComposableNodeContainer(
         package='rclcpp_components',
         name='point_cloud_xyzrgb_container',
         namespace='',
         executable='component_container_mt',
         composable_node_descriptions=IsaacROSPointCloudXyzrgbLaunchFragment
-        .get_composable_nodes().values(),
+        .get_composable_nodes(interface_specs).values(),
         output='screen'
     )
-
+
+    # Convert dict_values to list before concatenation
+    launch_actions = list(IsaacROSPointCloudXyzrgbLaunchFragment.get_launch_actions().values())
+
     return launch.LaunchDescription(
-        [point_cloud_xyzrgb_container] +
-        IsaacROSPointCloudXyzrgbLaunchFragment.get_launch_actions().values())
+        [point_cloud_xyzrgb_container] + launch_actions)