Been working with the r200 with the ROS package for the last few days. using the r200nodeletrgbd.launch is more efficient in terms of CPU usage than the others (On our gigabyte brick it uses about half the percentage compared to using the multiple_camera launch file). My speculation of the reason this is so might be due to the standard of constellation processing nodelets.

We were able to create another launch file to call the nodelet_rgbd and run several realsense cameras at the same time.