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the launch file:

back_camera = Node(
    package='realsense_node',
    node_executable='realsense_node',
    node_name='d435',
    node_namespace='back',
    output='screen',
    respawn=False,
    parameters=[
        os.path.join(get_package_share_directory('realsense_examples'),'config','example.yaml'),
        {
        'json_file_path': full_json_file_path, 
        }]
    )

the yaml file:

back/d435:
    ros__parameters:
        log_level: 'info'

        serial_no: 933322071235 # d435
        align_depth: true
        enable_pointcloud: true
        dense_pointcloud: true
        color0:
          enabled: true
          resolution: [640,480]
          fps: 15 
        depth0:
          enabled: true
          resolution: [640,480]
          fps: 15 
        infra1:
          enabled: true
          resolution: [640,480]
          fps: 15 
        infra2:
          enabled: true
          resolution: [640,480]
          fps: 15

for eloquent

Edit: The code below works for standard nodes, haven't tested trying to use composable nodes which the op isn't able to get working

the launch file:

back_camera = Node(
    package='realsense_node',
    node_executable='realsense_node',
    node_name='d435',
    node_namespace='back',
    output='screen',
    respawn=False,
    parameters=[
        os.path.join(get_package_share_directory('realsense_examples'),'config','example.yaml'),
        {
        'json_file_path': full_json_file_path, 
        }]
    )

the yaml file:

back/d435:
    ros__parameters:
        log_level: 'info'

        serial_no: 933322071235 # d435
        align_depth: true
        enable_pointcloud: true
        dense_pointcloud: true
        color0:
          enabled: true
          resolution: [640,480]
          fps: 15 
        depth0:
          enabled: true
          resolution: [640,480]
          fps: 15 
        infra1:
          enabled: true
          resolution: [640,480]
          fps: 15 
        infra2:
          enabled: true
          resolution: [640,480]
          fps: 15

for eloquent