How to publish ROS2 NITROS Image from deepstream/gstreamer?

Autonomous Machines Robotics - Isaac Isaac ROS
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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?