Determine object depth/distance to end effector bases on stereo image produced in rviz2

edit

Hi, may i know is there any simple way to determine the distance of object to the camera that is attaced to end effector through the image produced in rviz? I am using a simulated camera- intel realsense r200 to capture the image of object and the left and right images are published in rviz2. Is there any plugin that can calculate the parameter based on the image produced? Thank you in advanced. (im using ros2 foxy)