realsense D455 support

realsense_examples/config/d455.yaml

@@ -0,0 +1,27 @@
+/d435i:
+  camera:
+    ros__parameters:
+      serial_no: 026222250386 # d455
+      align_depth: false
+      enable_pointcloud: true
+      dense_pointcloud: true
+      color0:
+        enabled: true
+        resolution: [640,480]
+        fps: 30
+      depth0:
+        enabled: true
+        resolution: [640,480]
+        fps: 30
+      infra1:
+        enabled: true
+        resolution: [640,480]
+        fps: 30
+      infra2:
+        enabled: true
+        resolution: [640,480]
+        fps: 30
+      accel0:
+        enabled: true
+      gyro0:
+        enabled: true

realsense_ros/include/realsense/rs_constants.hpp

@@ -22,6 +22,7 @@ namespace realsense
   const uint16_t RS415_PID        = 0x0ad3; // ASRC
   const uint16_t RS435_RGB_PID    = 0x0b07; // AWGC
   const uint16_t RS435i_RGB_PID   = 0x0B3A; // AWGC_MM
+  const uint16_t RS455_RGB_PID    = 0x0B5C; // D455
   const uint16_t RS_T265_PID      = 0x0b37; // T265
   const uint16_t RS_USB2_PID      = 0x0ad6; // USB2
   using stream_index_pair = std::pair<rs2_stream, int>;

realsense_ros/src/rs_factory.cpp

@@ -85,6 +85,7 @@ void RealSenseNodeFactory::startDevice()
         rs_node_ = std::make_unique<RealSenseD435>(ctx_, dev_, *this);
         break;
       case RS435i_RGB_PID:
+      case RS455_RGB_PID:
         RCLCPP_INFO(this->get_logger(), "Create a node for D435i Camera");
         rs_node_ = std::make_unique<RealSenseD435I>(ctx_, dev_, *this);
         break;