Adding filters.

[shaun-edwards]

The following MR's/misc additions appear to have been missed:

• https://gitlab.com/plusone-robotics/core/realsense/merge_requests/15/diffs
• https://gitlab.com/plusone-robotics/core/realsense/merge_requests/13/diffs
• https://gitlab.com/plusone-robotics/core/realsense/merge_requests/14/diffs
• https://gitlab.com/plusone-robotics/core/realsense/merge_requests/1

At a high level, a un-colorized pointcloud publisher is missing, camera info changes as a result decimation (resolution changes require camera info change).