In terminal,
$ roslaunch realsense2_camera rs_rgbd.launch
In new terminal, move to the repository where you want to save pictures.
After that,
$ ROS_HOME=`pwd` roslaunch tpcdi tpcdi.launch
OR
$ ROS_HOME=`pwd` roslaunch tpcdi tpcdi.launch date:=$(date +"%Y-%m-%d-%I-%M")
After set the pose of your camera,
$ rosrun tpcdi tpcdi
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Take Pictures of Color and Depth Image
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