How to publish ROS2 NITROS Image from deepstream/gstreamer?

As titled.

Further info:
I am running JetPack 5.0.2 and a deepstream/gstreamer pipeline that produce video/x-raw(memory:NVMM) frames
Are there any example code that could publish a buffer that is already in GPU memory to ROS2 as NITROS?

NITROS only supports GPU memory transfers within a ROS 2 process, not across processes in gStreamer with DeepStream yet. There are no plans to support this at present but we’ll look into it.