One option is to do something like: How to set velocities of a mobile robot with /cmd_vel? - #4 by Hammad_M
along with the dynamic control extension to receive a custom ROS message in your extension, and then use set_articulation_dof_velocity_targets Dynamic Control [omni.isaac.dynamic_control] — isaac_sim 2022.1.1-release.1 documentation for the driven joints.
Note that the drive should be set up for velocity control similar to this example: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/sample_ros_turtlebot.html#velocity-control-setup
This is the most general solution as you can use any standard ROS message to pass the data around and write a controller either on the ROS side, or inside isaac sim with full access to physics state information through dynamic control.