def METHOD_NAME():
    params = rs_launch.configurable_parameters
    xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d455_camera.urdf.xacro')
    urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
    return LaunchDescription(
        rs_launch.declare_configurable_parameters(local_parameters) +
        rs_launch.declare_configurable_parameters(params) + 
        [
        OpaqueFunction(function=rs_launch.launch_setup,
                kwargs = {'params' : set_configurable_parameters(params)}
        ),
        launch_ros.actions.Node(
            package='rviz2',
            namespace='',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', [ThisLaunchFileDir(), '/urdf_pointcloud.rviz']],
            output='screen',
            parameters=[{'use_sim_time': False}]
        ),
        launch_ros.actions.Node(
            name='model_node',
            package='robot_state_publisher',
            executable='robot_state_publisher',
            namespace='',
            output='screen',
            arguments=[urdf]
        )
    ])