3D Pose estimation (3D boundary boxes)

Does anyone know how to use this ISAAC SIM pipeline out of it with ROS or any other way to get 3D boundary boxes?,with or without 3d camera. (Realsense)

I know there is darknet_ros_3d , but I get a leak of memory darknet_ros dependency, and in ROS2 wont compile as it is for Foxy , nVidia Jetson are stuck in eloquent.

If anyone have it working and can say me how would be enough.