Added mapping launch file

src/rove_zed/config/zed_mapping.yaml

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+# Parameters to override zed_wrapper parameters 
+/**:
+    ros__parameters:
+        mapping:
+            mapping_enabled: true # True to enable mapping and fused point cloud pubblication
+            resolution: 0.05 # maps resolution in meters [min: 0.01f - max: 0.2f]
+            max_mapping_range: 5.0 # maximum depth range while mapping in meters (-1 for automatic calculation) [2.0, 20.0]
+            fused_pointcloud_freq: 1.0 # frequency of the publishing of the fused colored point cloud
+            clicked_point_topic: "/clicked_point" # Topic published by Rviz when a point of the cloud is clicked. Used for plane detection
+            pd_max_distance_threshold: 0.15 # Plane detection: controls the spread of plane by checking the position difference.
+            pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference

src/rove_zed/launch/zed_mapping.launch.py

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+from pathlib import Path
+import yaml
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+
+    camera_model = 'zed2i'
+
+    pkg_zed_wrapper = get_package_share_directory('zed_wrapper')
+    launch_file_path = os.path.join(pkg_zed_wrapper, 'launch', 'zed_camera.launch.py')
+
+    # Parse yml config file to iterable array
+    pkg_rove_zed = get_package_share_directory('rove_zed')
+    config_override_path = os.path.join(pkg_rove_zed, 'config', 'zed_mapping.yaml')
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            launch_description_source=launch_file_path,
+            launch_arguments=[ # `ros2 launch rove_zed zed_body_trck.launch.py --show-arguments`
+                ['camera_model', camera_model],
+                ['camera_name', camera_model],
+                ['ros_params_override_path', config_override_path]
+            ]
+        )
+    ])