Based on your previous post at Nvblox cost map parameters - #2 by Raffaello, I believe you are working with Isaac ROS 2.1.
I suggest to switch to Isaac ROS 3.0. We’ve released a fix for the Realsense.
Simply run sudo apt-get update and reinstall the package to make it work.
The angled camera can be used at any angle you want. Please ensure the correct definition of your URDF file.
To better understand your image, is the camera looking at the ground or a wall?
Best,
Raffaello