Integration of realsense d435i camera and openvins

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Hi everyone, I am updating my question, I am trying to integrate the realsense d435i camera and openvins nodes in one launch file in ROS2 Foxy. I have converted the openvins node into a composable node and am running it with the realsense composable node in a single container, the launch file runs and the opevins node subscribes to the camera and imu topics but still I don't see any output on /trackhist or /odomimu. If anybody has worked on this before and encountered this issue, please help me out. Here is the launch file -

import os
from ament_index_python.packages import get_package_share_directory, get_package_prefix
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, TextSubstitution
from launch_ros.actions import Node
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

def generate_launch_description():

    # Define launch arguments
    launch_args = [
        DeclareLaunchArgument(name="namespace", default_value="ov_msckf", description="namespace"),
        DeclareLaunchArgument(name="ov_enable", default_value="true", description="enable OpenVINS node"),
        DeclareLaunchArgument(name="rviz_enable", default_value="false", description="enable rviz node"),
        DeclareLaunchArgument(name="config", default_value="rs435i", description="euroc_mav, tum_vi, rpng_aruco..."),
        DeclareLaunchArgument(name="config_path", default_value="", description="path to estimator_config.yaml. If not given, determined based on provided 'config' above"),
        DeclareLaunchArgument(name="verbosity", default_value="INFO", description="ALL, DEBUG, INFO, WARNING, ERROR, SILENT"),
        DeclareLaunchArgument(name="use_stereo", default_value="true", description="if we have more than 1 camera, if we should try to track stereo constraints between pairs"),
        DeclareLaunchArgument(name="max_cameras", default_value="2", description="how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)"),
        DeclareLaunchArgument(name="save_total_state", default_value="false", description="record the total state with calibration and features to a txt file"),
    ]

    config_path = os.path.join(
        get_package_share_directory('ov_msckf'),
        'config', 'rs_d435', 'estimator_config.yaml')

    # Config file
    config_file = os.path.join(
        get_package_share_directory('argos_launch'),
        'config', 'sensors', 'realsense_ov.yaml')

    realsense_node = ComposableNode(
        namespace="camera",
        package='realsense2_camera',
        plugin='realsense2_camera::RealSenseNodeFactory',
        parameters=[config_file],
        remappings = [("/camera/imu", "/imu0"),
                  ("/camera/infra1/image_rect_raw", "/cam1/image_raw"),
                  ("/camera/infra2/image_rect_raw", "/cam0/image_raw")]
    )

    open_vins_node = ComposableNode(     
        package='ov_msckf',
        plugin='ov_msckf::OpenVinsNode',
        parameters=[
        {"verbosity": LaunchConfiguration("verbosity")},
        {"use_stereo": LaunchConfiguration("use_stereo")},
        {"max_cameras": LaunchConfiguration("max_cameras")},
        {"save_total_state": LaunchConfiguration("save_total_state")},
        #{"config_path": config_path},
        ],
    )

    container = ComposableNodeContainer(
        name='my_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            realsense_node,
            open_vins_node,
        ],
        output='screen',
    )

    ld = LaunchDescription(launch_args)
    ld.add_action(container)

    return ld