Isaac SDK and ROS integration

I would like to know what is the proper way to exchange messages between Isaac SDK and ROS projects. I have a separate ROS project with some custom messages defined in it and I would like to receive and send this custom messages back and forth between ROS and Isaac projects.

As I know Isaac ships with it’s own ROS distribution. My ROS project is created with separate ROS distribution installed in the system. Custom messages are defined inside my project’s workspace package. At the moment Isaac project knows only about message types defined in ROS bundled with him.

ROS1 and Isaac SDK apps can communicate over network through ROS Bridge (details here): Isaac SDK codelet will register itself as a ROS1 node with the master and pub/sub to specific topics, transforming protos as needed. Isaac SDK does not ship with ROS, but it is complementary.

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