How to convert messages into ROS2 messages on orin's driveworks?

Software Version
DRIVE OS 6.0.6

Target Operating System

Hardware Platform
DRIVE AGX Orin Developer Kit (not sure its number)

Some of my previous software functions were done on ROS2, but now I want to directly run them on ORIN.How to convert image data on orin into ROS2 messages and send them out? Is there a relevant interface ?

Dear @TomFord,
We dont have any APIs in DW to convert image data to ROS2. You may have to fill the ROS2 messges manually. Note that we don’t officially support ROS on DRIVE AGX Orin. May I know what functionalities/algos used in ROS application?