diff --git a/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java b/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
index 7aa9ee5fdb3e..86652283d3d5 100644
--- a/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
+++ b/ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java
@@ -118,6 +118,15 @@ public final class PerceptionAPI
                                                                                            .withTypeName(ImageMessage.class)
                                                                                            .withSuffix("depth_filtered");
 
+   public static final ROS2Topic<Empty> REQUEST_FULL_RESOLUTION_HEARTBEAT = PERCEPTION_MODULE.withSuffix("request_realsense_full_resolution")
+                                                                                             .withType(Empty.class);
+   public static final ROS2Topic<ImageMessage> D455_DEPTH_IMAGE_FULL_RESOLUTION = BEST_EFFORT.withModule("d455")
+                                                                                             .withTypeName(ImageMessage.class)
+                                                                                             .withSuffix("depth_full_resolution");
+   public static final ROS2Topic<ImageMessage> D455_COLOR_IMAGE_FULL_RESOLUTION = BEST_EFFORT.withModule("d455")
+                                                                                             .withTypeName(ImageMessage.class)
+                                                                                             .withSuffix("color_full_resolution");
+
    /*
     * RealSense image topics (official ROS 2 Image and CameraInfo types)
     */
diff --git a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/pointCloud/RDXROS2ColoredPointCloudVisualizer.java b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/pointCloud/RDXROS2ColoredPointCloudVisualizer.java
index f8162293df9a..194fcb4001ee 100644
--- a/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/pointCloud/RDXROS2ColoredPointCloudVisualizer.java
+++ b/ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/pointCloud/RDXROS2ColoredPointCloudVisualizer.java
@@ -3,7 +3,11 @@
 import com.badlogic.gdx.graphics.g3d.Renderable;
 import com.badlogic.gdx.utils.Array;
 import com.badlogic.gdx.utils.Pool;
+import imgui.ImGui;
+import imgui.type.ImBoolean;
 import perception_msgs.msg.dds.ImageMessage;
+import us.ihmc.communication.PerceptionAPI;
+import us.ihmc.communication.ros2.ROS2Heartbeat;
 import us.ihmc.perception.RawImage;
 import us.ihmc.perception.imageMessage.ImageMessageDecoder;
 import us.ihmc.rdx.sceneManager.RDXSceneLevel;
@@ -36,6 +40,9 @@ public class RDXROS2ColoredPointCloudVisualizer extends RDXROS2MultiTopicVisuali
    private final ImageMessageDecoder colorMessageDecoder = new ImageMessageDecoder();
 
    private final RDXRawImagePointCloudVisualizer visualizer;
+   private ROS2Heartbeat fullResolutionHeartbeat;
+   private final ImBoolean requestFullResolution = new ImBoolean(false);
+
 
    public RDXROS2ColoredPointCloudVisualizer(String title, ROS2Node ros2Node, ROS2Topic<ImageMessage> depthTopic, ROS2Topic<ImageMessage> colorTopic)
    {
@@ -84,6 +91,9 @@ public List<ROS2Topic<?>> getTopics()
    @Override
    public void renderImGuiWidgets()
    {
+      if (ImGui.checkbox(labels.get("Full Resolution Hearbeat"), requestFullResolution) && fullResolutionHeartbeat != null)
+         fullResolutionHeartbeat.setAlive(requestFullResolution.get());
+
       depthMessageSizeReadout.renderImGuiWidgets();
       colorMessageSizeReadout.renderImGuiWidgets();
 
@@ -110,6 +120,12 @@ public void destroy()
       colorMessageDecoder.destroy();
    }
 
+   public void setupFullResolutionRequestHeartbeat(ROS2Node ros2Node)
+   {
+      fullResolutionHeartbeat = new ROS2Heartbeat(ros2Node, PerceptionAPI.REQUEST_FULL_RESOLUTION_HEARTBEAT);
+      fullResolutionHeartbeat.setAlive(requestFullResolution.get());
+   }
+
    private void subscribe()
    {
       depthSubscription = ros2Node.createSubscription2(depthTopic, this::onDepthMessageReceived);
diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/ROS2ImageSensors.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/ROS2ImageSensors.java
index 7f7f7ee4bc98..aeb9bf366892 100644
--- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/ROS2ImageSensors.java
+++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/ROS2ImageSensors.java
@@ -26,6 +26,8 @@ public class ROS2ImageSensors
    private ImageSensor zedSensor;
    private ROS2DemandGraphNode zedPublishDemandNode;
    private ImageSensorPublishThread zedPublishThread;
+   private ROS2DemandGraphNode ros2DemandGraphNode;
+   private ImageSensorPublishThread imageSensorPublishThread;
 
    public ROS2ImageSensors(ROS2Node ros2Node)
    {
@@ -48,6 +50,18 @@ public void addRealsenseSensor(ImageSensor realsenseSensor, ReferenceFrame senso
       setupCallbackForDemandNode(realsensePublishThread, realsensePublishDemandNode);
    }
 
+   // Must be called after the realsense has been added, no safety checks
+   public void addFullResolutionRealSensePublisher(ImageSensor realsenseSensor)
+   {
+      ros2DemandGraphNode = new ROS2DemandGraphNode(ros2Node, PerceptionAPI.REQUEST_FULL_RESOLUTION_HEARTBEAT);
+      realsenseDemandNode.addDependents(ros2DemandGraphNode);
+
+      imageSensorPublishThread = new ImageSensorPublishThread(ros2Node, realsenseSensor);
+      realsensePublishThread.addTopic(PerceptionAPI.D455_DEPTH_IMAGE_FULL_RESOLUTION, RealSenseImageSensor.DEPTH_IMAGE_KEY);
+      realsensePublishThread.addTopic(PerceptionAPI.D455_COLOR_IMAGE_FULL_RESOLUTION, RealSenseImageSensor.COLOR_IMAGE_KEY);
+      setupCallbackForDemandNode(imageSensorPublishThread, ros2DemandGraphNode);
+   }
+
    public void addZEDSensor(ImageSensor zedSensor, ReferenceFrame sensorFrame)
    {
       this.zedSensor = zedSensor;