The 22nd verses on cosmic vision of cosmic body, basically points out , that different gods , and also different kinds of beings, are all part of the cosmic body . This cosmic body is source of all that you see in the world . So contemplating on it , helps you to go to the plane of oneness . As when you move ahead, with the verse, you feel that somehow all these differences you see , of religion , caste , gods , and different community gets eliminate to one single cosmic form ,which is beyond the time and space .
Rudras , Adityas , Vasus , Viswadevas they all exsist in this form . At the same time , maruts ( warrior gods ) , Celestial singers ( Gandharvas) , Yakshas , demons and the perfected one the siddha they are all part of this great and gigantic cosmic form of Krishna . He somehow through this forms brings you to the oneness. This is what Arjuna was describing about Krishna with heart filled with bliss, and experience of the cosmic form . He is emanating, actually a deeper understanding of the unity of the world .