AgileX SCOUT MINI - RGB and Depth Map Visualization; Add DepthCloud Component in RViz; Configure Depth Map Topic in RViz; Display Depth Map in RViz

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roslaunch realsense2_camera rs_camera.launch
Open rviz, click the add to add DepthCloud component
Fixed frame choose camera_link, choose the corresponding topic in the Depth Map topic.
The depth map in shown below.
Get the rgb+Depth map