Ubable to transform PointCloud in rviz about realsense-ros HOT 6 CLOSED

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <!-- configure camera input -->
  <arg name="camera" default="camera" />
  <arg name="camera_name" default="/$(arg camera)/color" />
  <arg name="image_topic" default="image_raw" />
  <arg name="queue_size" default="1" />

  <!-- apriltag_ros continuous detection node -->
  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)">
    <!-- Remap topics -->
    <remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
    <remap from="camera_info" to="$(arg camera_name)/camera_info" />
    <param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false -->
    <param name="queue_size" type="int" value="$(arg queue_size)" />

    <!-- load parameters (incl. tag family, tags, etc.) -->
    <rosparam command="load" file="$(find hauser_localization)/config/settings.yaml"/>
    <rosparam command="load" file="$(find hauser_localization)/config/tags.yaml"/>
  </node>

 <!-- run realsense with point cloud -->
  <include file="$(find realsense2_camera)/launch/rs_camera.launch">
    <arg name="camera" value="$(arg camera)" />
    <arg name="filters" value="pointcloud"/>
    <arg name="publish_tf" value="false"/>
    <!-- <arg name="unite_imu_method" value="linear_interpolation"/>
    <arg name="enable_gyro" value="true"/>
    <arg name="enable_accel" value="true"/> -->
  </include>

  <!-- Show on rviz -->
  <include file="$(find hauser_viz)/launch/rviz/multi_robots.launch">
    <arg name="camera_name" value="$(arg camera_name)" />
  </include>
 
  <!-- Calcurate robot attitude -->
  <node pkg="hauser_localization" type="tags_center" name="tags_center" output="screen" />
  <node pkg="hauser_localization" type="tag2robot" name="tag2robot" output="screen" />