update cloud reprojection node to sync image+cloud, looks sync good

launch_ROS2/odin1_ros2.launch.py

@@ -65,17 +65,7 @@ def generate_launch_description():
         parameters=[reprojection_params]
     )
 
-    # Image overlay node - overlays reprojected points on camera image
-    overlay_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
-    with open(overlay_config_path, 'r') as f:
-        overlay_params = yaml.safe_load(f)
-    image_overlay_node = Node(
-        package='odin_ros_driver',
-        executable='image_overlay_node',  
-        name='image_overlay_node',
-        output='screen',
-        parameters=[overlay_params]
-    )
+    # Combined jpeg is published by cloud_reprojection_ros2_node (left=depth z, right=camera BGR)
 
     # Create RViz2 node - loads specified configuration file
     rviz_node = Node(
@@ -93,7 +83,6 @@ def generate_launch_description():
     ld.add_action(host_sdk_node)
     ld.add_action(pcd2depth_node)
     ld.add_action(cloud_reprojection_node)
-    ld.add_action(image_overlay_node)
-    ld.add_action(rviz_node)  # Add RViz node
+    # ld.add_action(rviz_node)  # Add RViz node
     
     return ld