Omnidirectional drive robot in IsaacSim (Ros2)

Hi everyone, I want to add an omnidirectional drive robot (Kaya) in IsaacSim and control it via ros2. I have followed the “Drive TurtleBot via ROS2 messages” tutorial. Unfortunately I have reached the point of replacing the differential controller with a holonomic controller without success.

Hi @Zeradul - Have you followed this document? 4. OmniGraph — isaacsim latest documentation