rebase from ros2-development

README.md

@@ -354,17 +354,6 @@ User can set the camera name and camera namespace, to distinguish between camera
   - If set to true, the device will reset prior to usage.
   - For example: `initial_reset:=true`
 - **base_frame_id**: defines the frame_id all static transformations refers to.
-- **unite_imu_method**:
-  - D400 cameras have built in IMU components which produce 2 unrelated streams, each with it's own frequency: 
-    - *gyro* - which shows angular velocity 
-    - *accel* which shows linear acceleration. 
-  - By default, 2 corresponding topics are available, each with only the relevant fields of the message sensor_msgs::Imu are filled out.
-  - Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default *gyro* and *accel* topics.
-    - The *imu* topic is published at the rate of the gyro.
-    - All the fields of the Imu message under the *imu* topic are filled out. 
-  - `unite_imu_method` parameter supported values are [0-2] meaning:  [0 -> None, 1 -> Copy, 2 -> Linear_ interpolation] when:
-    - **linear_interpolation**: Every gyro message is attached by the an accel message interpolated to the gyro's timestamp.
-    - **copy**: Every gyro message is attached by the last accel message.
 - **clip_distance**:
   - Remove from the depth image all values above a given value (meters). Disable by giving negative value (default)
   - For example: `clip_distance:=1.5`