How to use Isaac with custom build robot?

We have been working on the custom build robots before the inception of the isaac platform.
Some of them are using ROS and some are based on ARIA libraries. These robot platforms are based on different hardwares and controllers and we have custom made softwares and solutions for them.
I want to know whether it is possible to modify the existing code to make them compatible with isaac and what should be the course of action for the same.

Hi Shishir,

We have Isaac ROS bridge to enable bring Isaac in your ROS application. Please check out the documentation for “ROS bridge”

Thanks!
Atousa