Examples of usage for https://github.com/roncapat/ros2_native_adapters ROS2 package.
The point cloud demos are based on LucidLAbs Helios 2 ToF and Stereolabs Zed 2 hardware and the related packages:
- https://github.com/roncapat/ROS2-HAL-LucidLabs-Helios2
- https://github.com/roncapat/ROS2-HAL-Stereolabs-Zed2
which as well publish point clouds using native_adapters.
You can find demo launchers under Demos/launch (native_adapters_examples package).