<?xml version='1.0' ?>

<launch>
	<arg name="fc" default="front_cam"/>

	<node_container pkg="rclcpp_components" exec="component_container_mt" name="stereo" namespace="rs">
		<composable_node pkg="isaac_ros_depth_image_proc" plugin="nvidia::isaac_ros::depth_image_proc::PointCloudXyzNode" name="pointcloud" namespace="$(var fc)">
			<param name="skip" value="2"/>
			<param name="output_width" value="640"/>
			<param name="output_height" value="360"/>
			<remap from="image_rect" to="/$(var fc)/depth/image_rect_raw"/>
			<remap from="camera_info" to="/$(var fc)/depth/camera_info"/>
		</composable_node>
	</node_container>
</launch>

[component_container_mt-3] [ERROR] [1724137462.210540163] [NitrosImage]: [convert_to_custom] Unsupported encoding from ROS [16UC1].
[component_container_mt-3] terminate called after throwing an instance of 'std::runtime_error'
[component_container_mt-3]   what():  [convert_to_custom] Unsupported encoding from ROS