Issue regarding the VSLAM with realsense

I am using realsense camera for VSLAm, I created the node for the realsense camera correctly even though the camera feed is not showing in the rviz I need some in that, should I assign the id for the realsense in the launch if that is how to do that. I attached the rqt graph of my nodes.

Suggest to get the support from Latest Robotics - Isaac/Isaac ROS topics - NVIDIA Developer Forums

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