Re: Is there data source as CameraRGBDImages in ROS version
No, there is no launch file for CameraRGBD classes as openni2_launch, openni_launch and freenect_launch provide already the same stuff in ROS way. I am not aware of a node reading rgb-d images from a directory to publish them as ROS messages. Can you use ROS bag instead? Otherwise, creating a ROS wrapper of CameraRGBDImages is possible.