unable to interface BCR_BOT with ISAAC_ROS_VSLAM

HERE IS THE TOPIC LIST
ros2 topic list
/bcr_bot/cmd_vel
/bcr_bot/imu
/bcr_bot/joint_states
/bcr_bot/kinect_camera/camera_info
/bcr_bot/kinect_camera/depth/camera_info
/bcr_bot/kinect_camera/depth/image_raw
/bcr_bot/kinect_camera/depth/image_raw/compressed
/bcr_bot/kinect_camera/depth/image_raw/compressedDepth
/bcr_bot/kinect_camera/depth/image_raw/theora
/bcr_bot/kinect_camera/image_raw
/bcr_bot/kinect_camera/image_raw/compressed
/bcr_bot/kinect_camera/image_raw/compressedDepth
/bcr_bot/kinect_camera/image_raw/theora
/bcr_bot/kinect_camera/points
/bcr_bot/odom
/bcr_bot/p3d_ground_truth
/bcr_bot/scan
/bcr_bot/stereo_camera/left/camera_info
/bcr_bot/stereo_camera/left/image_raw
/bcr_bot/stereo_camera/left/image_raw/compressed
/bcr_bot/stereo_camera/left/image_raw/compressedDepth
/bcr_bot/stereo_camera/left/image_raw/theora
/bcr_bot/stereo_camera/right/camera_info
/bcr_bot/stereo_camera/right/image_raw
/bcr_bot/stereo_camera/right/image_raw/compressed
/bcr_bot/stereo_camera/right/image_raw/compressedDepth
/bcr_bot/stereo_camera/right/image_raw/theora
/clock
/diagnostics
/parameter_events
/performance_metrics
/robot_description
/rosout
/tf
/tf_static
/visual_slam/camera_info_0
/visual_slam/camera_info_1
/visual_slam/image_0
/visual_slam/image_0/nitros
/visual_slam/image_1
/visual_slam/image_1/nitros
/visual_slam/initial_pose
/visual_slam/status
/visual_slam/tracking/odometry
/visual_slam/tracking/slam_path
/visual_slam/tracking/vo_path
/visual_slam/tracking/vo_pose
/visual_slam/tracking/vo_pose_covariance
/visual_slam/trigger_hint
/visual_slam/vis/gravity
/visual_slam/vis/landmarks_cloud
/visual_slam/vis/localizer
/visual_slam/vis/localizer_loop_closure_cloud
/visual_slam/vis/localizer_map_cloud
/visual_slam/vis/localizer_observations_cloud
/visual_slam/vis/loop_closure_cloud
/visual_slam/vis/observations_cloud
/visual_slam/vis/pose_graph_edges
/visual_slam/vis/pose_graph_edges2
/visual_slam/vis/pose_graph_nodes
/visual_slam/vis/slam_odometry
/visual_slam/vis/velocity

The bcr_bot simulation is working well and good .the bcr output is published. i am running the cuVSLAM container
the published outputs from the vslam container has no data in them. also the rviz cant visualize anything
here is the launch code i used in container:
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam.launch.py
input_left_image:=/bcr_bot/stereo_camera/left/image_raw
input_right_image:=/bcr_bot/stereo_camera/right/image_raw
input_left_camera_info:=/bcr_bot/stereo_camera/left/camera_info
input_right_camera_info:=/bcr_bot/stereo_camera/right/camera_info
input_imu:=/bcr_bot/imu
enable_imu_fusion:=true
imu_qos:=RELIABLE
image_qos:=RELIABLE
rectified_images:=false
enable_slam_visualization:=true
enable_observations_view:=true
enable_landmarks_view:=true
publish_odom_to_base_tf:=true
publish_map_to_odom_tf:=false
verbosity:=1

the output:
/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam.launch.py
input_left_image:=/bcr_bot/stereo_camera/left/image_raw
input_right_image:=/bcr_bot/stereo_camera/right/image_raw
input_left_camera_info:=/bcr_bot/stereo_camera/left/camera_info
input_right_camera_info:=/bcr_bot/stereo_camera/right/camera_info
input_imu:=/bcr_bot/imu
enable_imu_fusion:=true
imu_qos:=RELIABLE
image_qos:=RELIABLE
rectified_images:=false
enable_slam_visualization:=true
enable_observations_view:=true
enable_landmarks_view:=true
publish_odom_to_base_tf:=true
publish_map_to_odom_tf:=false
verbosity:=1
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2025-05-23-11-17-20-378353-creator-Inspiron-15-5518-2698
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [2710]
[component_container-1] [INFO] [1747979240.875504162] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container-1] [INFO] [1747979241.003905289] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-1] [INFO] [1747979241.004052157] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-1] [INFO] [1747979241.060935538] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container-1] [INFO] [1747979241.063833878] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_gxf_helpers.so
[component_container-1] [INFO] [1747979241.070260505] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_sight.so
[component_container-1] [INFO] [1747979241.076613099] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_atlas.so
[component_container-1] 2025-05-23 11:17:21.088 WARN external/com_nvidia_gxf/gxf/std/program.cpp@538: No GXF scheduler specified.
[component_container-1] [INFO] [1747979241.089164433] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container-1] [INFO] [1747979241.105713022] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1747979241.114874541] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1747979241.249074014] [visual_slam_node]: cuVSLAM version: 12.6
[component_container-1] [INFO] [1747979241.468037161] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.218787
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/visual_slam_node' in container '/visual_slam_launch_container'
[component_container-1] [INFO] [1747980355.096829899] [visual_slam_launch_container]: Found class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-1] [INFO] [1747980355.097147056] [visual_slam_launch_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatenvidia::isaac_ros::visual_slam::VisualSlamNode
[component_container-1] [WARN] [1747980355.097905816] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[component_container-1] [INFO] [1747980355.168011089] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1747980355.182768967] [visual_slam_node.ManagedNitrosSubscriber]: Starting Managed Nitros Subscriber
[component_container-1] [INFO] [1747980355.272996271] [visual_slam_node]: cuVSLAM version: 12.6
[component_container-1] [INFO] [1747980355.276814998] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.003639
[component_container-1] [WARN] [1747980355.278441018] [tf2_buffer]: Detected time source change. Clearing TF buffer.

using gazebo for the simulation . appriciate the help

Start with the isaac_ros_visual_slam.launch.py entry point and compare its configured subscriptions with the listed /bcr_bot stereo and IMU topics, including QoS and TF. Verify topic data and transforms before checking the visual_slam outputs in RViz; done means the node produces usable output that RViz can visualize.