Vehicle-cpp/Nav/autoware_src/autoware/utilities/runtime_manager/scripts/points2image.launch

<launch>
    <arg name="camera_id" default="/"/>
    <arg name="camera_info_src" default="/camera_info"/>
    <arg name="projection_matrix_src" default="/projection_matrix"/>
    <arg name="sync" default="false" />

    <node pkg="points2image" type="points2image" name="points2image" output="screen">
        <param name="camera_info_topic" value="$(arg camera_id)$(arg camera_info_src)"/>
        <param name="projection_matrix_topic" value="$(arg camera_id)$(arg projection_matrix_src)"/>
        <remap from="/points_raw" to="/sync_drivers/points_raw" if="$(arg sync)" />
    </node>
</launch>