I tried this sample and it worked pretty awesome.
So basically, I convert isaac map to ros map by https://docs.nvidia.com/isaac/isaac/packages/ros_bridge/doc/ros_bridge.html#converting-an-isaac-map-to-ros-map
I added ROS_Camera, ROS_Lidar, ROS_PoseTree topics into World tree and setup relationships accordingly.
bazel run packages/ros_bridge/apps:ros_to_navigation_unity3d – --more apps/assets/maps/virtual_test_warehouse_1.json --config ros_navigation:packages/ros_bridge/maps/virtual_test_warehouse_1_map_transformation.config.json,ros_navigation:packages/ros_bridge/apps/ros_to_navigation_turtlebot3_waffle_pi.config.json
TURTLEBOT3_MODEL=waffle_pi roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/slam/isaac/sdk/omniverse/maps/virtual_test_warehouse_1.yaml
I could get rgb/depth/lidar data in ros, but it seems the turtlebot pose/goal pose is not available/published? and the channels/settings in Sight is not same(missing?) as the one with Unity simulator.