Are there any RealSense camera tutorials for NVBLOX (C++)?

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The tutorial I used:
https://nvidia-isaac.github.io/nvblox/pages/core_library_run_an_example.html

My machine configuration is:
1、Jetson Orin; Ubuntu 22.04; Architecture: AArch64 (ARM 64); R36-4.3 (Jetpack 6.2); NVIDIA driver version: 540.4.0; CUDA version: 12.6; NVblox C++ Docker version installed

2、Ubuntu 22.04; RTX 5090; Driver Version: 580.95.05; CUDA Version: 13.0; Using isacc_ros_nvblox-release:3.2 Docker version;

My questions:
1、I see RealSense mapping tutorials only in nvblox_pytorch, but not in the nvblox (C++) version. How can I use RealSense cameras for mapping in the C++ version of nvblox?

2、The demo uses color, depth, and pose data. How can I collect this data separately?

3、The maps built by nvblox are in mesh.ply format. How can I put this into isaac_ros for vslam + nvblox + nav2 navigation?