Fixed Pointcloud without color issue #48

[marko-zaric]

This for fixes the monochrome pointcloud issue #48 many users had with this package by checking the dimension of the sensor_msgs::Image image_msg_.

The problem was that the colored rgb data was always overwritten by the monochrome pointcloud before getting published. I worked around this issue by creating a copy of image_msg_ called image_msgs2_ which stored the content of image_msg_ into image_msgs2_ when the size of the data was not monochrome but 3 dimensional (line 66). Later I simply used this stored color information when ever the color encoding was called instead of the by then overwritten image_msg_.

[emiraykin]

It worked for me after I aligned the dimensions of all messages ( color , depth and infrared )

[NakanishiKM]

I tried incorporating your pull request commit.
However, the point cloud color is only black.
This time we are simulating using: https://github.com/rickstaa/realsense-ros-gazebo?tab=readme-ov-file
Is there anything else I need to be careful about other than your commit part?

Paste the screenshots before and after apply your commit.