rename depth/image_raw to depth_raw/image

Without this change, both depth/image and depth/image_raw publish
the same camera_info topic (depth/camera_info) - this has several
issues:
 * subscribing to either image causes both to be published along
   with their respective camera_info
 * remapping either camera_info, remaps both
 * In Jazzy, it appears that the double camera_info also causes
   minor issues with message_filters in downstream packages

openni2_camera/src/openni2_driver.cpp

@@ -194,7 +194,8 @@ void OpenNI2Driver::advertiseROSTopics()
       };
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
     custom_qos.depth = 1;
-    pub_depth_raw_ = image_transport::create_camera_publisher(this, "depth/image_raw", custom_qos, pub_options);
+
+    pub_depth_raw_ = image_transport::create_camera_publisher(this, "depth_raw/image", custom_qos, pub_options);
     pub_depth_ = image_transport::create_camera_publisher(this, "depth/image", custom_qos, pub_options);
     pub_projector_info_ = this->create_publisher<sensor_msgs::msg::CameraInfo>("projector/camera_info", 1);
   }
@@ -398,7 +399,6 @@ void OpenNI2Driver::colorConnectCb()
   }
   std::lock_guard<std::mutex> lock(connect_mutex_);
 
-  // This does not appear to work
   color_subscribers_ = pub_color_.getNumSubscribers() > 0;
 
   if (color_subscribers_ && !device_->isColorStreamStarted())
@@ -451,7 +451,6 @@ void OpenNI2Driver::depthConnectCb()
   }
   std::lock_guard<std::mutex> lock(connect_mutex_);
 
-  // These does not appear to work
   depth_subscribers_ = pub_depth_.getNumSubscribers() > 0;
   depth_raw_subscribers_ = pub_depth_raw_.getNumSubscribers() > 0;
   projector_info_subscribers_ = pub_projector_info_->get_subscription_count() > 0;
@@ -481,8 +480,6 @@ void OpenNI2Driver::irConnectCb()
   }
   std::lock_guard<std::mutex> lock(connect_mutex_);
 
-  // This does not appear to work
-  // ir_subscribers_ = pub_ir_.getNumSubscribers() > 0;
   ir_subscribers_ = this->count_subscribers("ir/image") > 0 ||
                     this->count_subscribers("ir/camera_info") > 0;