data/mir_robots/mir_bringup/components/realsense_camera.launch

<?xml version="1.0"?>
<launch>
    <arg name="serial_num" default="727212070700"/>
    <arg name="camera_name" default="arm_cam3d"/>

    <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
        <arg name="camera" value="$(arg camera_name)" />
        <arg name="tf_prefix" value="$(arg camera_name)_camera" />
        <arg name="rgb" value="rgb" />
        <arg name="serial_no" value="$(arg serial_num)" />
    </include>
</launch>