Many SDK parameters are missing or not exposed in ROS2

[ruffsl]

As compared to the ROS1 wrapper for the realsense, many of the original parameters for the SDK remain missing or not exposed as dynamic or runtime parameters in ROS2. For example, the boolean options for enabling/disabling the IR projector are not made available, making it inconvenient to use the stereo IR stream for visual inertial SLAM.

https://github.com/IntelRealSense/realsense-ros/blob/88f73074ba00c7826c9e48249b33237b54d78ea5/realsense2_camera/launch/rs_rgbd.launch#L96

ros2_intel_realsense/realsense_examples/config/d435i.yaml

Lines 5 to 7 in 47b313c

	align_depth: false
	enable_pointcloud: true
	dense_pointcloud: true

[ruffsl]

This would be something I'd be willing to help port over; suggestions from any maintainers is welcome.

It looks like the ROS1 wrapper has a ferry involved method for procedurally registering all ofthe realsense SKD options as node parameters, so I'd like to ask if we'd perser to replicate this behavior in the ROS2 wrapper, or go with a different approach. E.g.

https://github.com/IntelRealSense/realsense-ros/blob/ec68bddb042abeba820421835c8b3e968c1016c7/realsense2_camera/src/base_realsense_node.cpp#L384-L388

ros2_intel_realsense/realsense_ros/src/rs_d435i.cpp

Lines 57 to 60 in 47b313c

	if (param_name == "accel0.enabled") {
	result = toggleStream(ACCEL, param);
	} else if (param_name == "gyro0.enabled") {
	result = toggleStream(GYRO, param);