message: demo_isaac: fixed subscribe_depth not existing, adjusted tag variance, removed localization too specific parameters
diff: <!-- RTAB-Map -->
  <remap from="/rtabmap/grid_map" to="/map"/>
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
  - <arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d) --Kp/MaxFeatures -1 --RGBD/ProximityBySpace false --Rtabmap/DetectionRate 3"/>
  + <arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
  <arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
  <arg name="localization" value="$(arg localization)"/>
  <arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
  <arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
  - <arg name="subscribe_depth" value="$(arg camera)"/>
  + <arg name="depth" value="$(arg camera)"/>
  <arg name="subscribe_rgb" value="$(arg camera)"/>
  <arg name="visual_odometry" value="false"/>
  <arg name="odom_topic" value="/odom"/>
  <arg name="rgbd_sync" value="true"/>
  <arg name="approx_rgbd_sync" value="false"/>
  <arg name="use_sim_time" value="true"/>
  - <arg name="tag_linear_variance" value="0.01"/>
  - <arg name="tag_angular_variance" value="1"/>
  + <arg name="tag_linear_variance" value="0.1"/>
  + <arg name="tag_angular_variance" value="0.2"/>
  <arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
  