Xarm 6 ROS 2 instruction?

Hi, I just got Ubuntu 22.04 and Ros 2 Humble installed and was wondering if there are any instructions to use the xarm with intel camera for follow or identify mode? I found the below link, but not sure how to use it.

Hi Butters,

You need to develop and integrate the vision modules yourself.
We only have a demo with intel realsense D435 on Ros, just for your reference.
xarm_ros/xarm_vision at master · xArm-Developer/xarm_ros · GitHub