D435i integration with gbplanner sim

[ta-jetson]

HI,
I am trying to integrate a D435i with the gbplanner sim. I have already tried changing the FOV and resolution in gbplanner_config.yaml as you had suggested in a earlier post.
SensorParams:
sensor_list: ["OS064"]
OS064:
type: kCamera
CameraType: kFixed
max_range: 2.0
center_offset: [0.0, 0.0, 0.0]
rotations: [0, 0, 0]
fov: [rad(85pi/180), rad(60pi/180)]
resolution: [rad(7pi/180), rad(7pi/180)]
frontier_percentage_threshold: 0.04
The simulation runs without issues but the point cloud viz on rviz is still a 360 degree FOV depth map like:

How do i proceed to include D435i with the simulations for testing.