rgb camera color format could not be change from parameters

[brsbilgin]

ROS2 version =humble
realsense ros wrapper version = 4.54.1
Camera model =D457

I would like to change rgb camera format. When I check the parameter name it is 'rgb_camera.color_format' . Default parameter is 'RGB8'. But it is not possible to chge this parameter. Also when I dump the parameters for realsense rgb_camer color format is not available. On bellow you can see the output of ros2 param dump.
rgb_camera:
auto_exposure_priority: false
auto_exposure_roi:
bottom: 719
left: 0
right: 1279
top: 0
backlight_compensation: true
brightness: 0
contrast: 80
enable_auto_exposure: false
enable_auto_white_balance: true
exposure: 700
frames_queue_size: 16
gain: 40
gamma: 450
global_time_enabled: true
hue: 0
power_line_frequency: 3
profile: 1280,720,15
saturation: 67
sharpness: 50
white_balance: 4600.0
rosbag_filename: ''

[MartyG-RealSense]

Hi @brsbilgin The format of streams in the RealSense ROS wrapper is always the same RGB is RGB8, depth is Z16 and Infrared is Y8.

[Arun-Prasad-V]

Hi @brsbilgin,
Please refer the PR #2811 which got merged into 'ros2-development' branch.

The user can select the format for all the video streams through below params:

• rgb_camera.color_format
• depth_module.depth_format
• depth_module.infra_format
• depth_module.infra1_format
• depth_module.infra2_format

Run ros2 param describe <your_node_name> <param_name> command to know the list of formats supported by that particular stream.

To change its value, you can run ros2 param set your_node_name> <param_name> <param_value>

Also, note that, the selected format should also be supported by the profile (width x height x fps) selected for that particular stream.
Run rs-enumerate-devices command to know the list of profiles & its corresponding formats supported by the sensors connected.

[brsbilgin]

Dear @Arun-Prasad-V ,
With ros2 param describe <your_node_name> <param_name> no any output. There is no parameter with name rgb_camera.color_format .

[Arun-Prasad-V]

Hi @brsbilgin,
Could you please confirm that you are using the latest from 'ros2-development' branch?