Publish depth map to ROS

Hello there,
I was wondering if it is possible to publish an depth map captured in Issac Sim to ROS. Instead of a depth image with the pixel values representing the relative proximity of the object in the scene to the images. Can I extrapolate the distance of the pixel to the camera. To explain myself better, is it possible to from the grayscale image, which pixel values goes from 0 to 255, is there an metric where I could go multiply for the pixel value to get the distance in meters from the camera. What I want is a similar data type as distance in Replicator.

Hi there,

will selecting depth, in the ROS2 Cameras tutorial, publish uin8 or float32 values? If it is float32 you can use the stage meters per unit variable to calculate the mapping. Let me know how it goes.