How to send replicator segmeted image as ros publisher in isaac sim

I am getting the segmented image from the replicator , that works even in case of navigation . I want to publish this preview image on a ros topic using ros bridge(Noetic) to do image segmentation related task.

Hi @eds17m007 - Someone will review and respond back to your question. Meanwhile, have you referred this ROS bridge documentation? I think this might help you: 12. ROS Bridge in Standalone Workflow — Omniverse Robotics documentation (5.9 KB)
I have make changes in published semantic gray scale image and now I am able to publish segmented image in ros noetic .@rthaker

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