What are the steps needed to enabled a Quadruped platform to use ROS2?

Omniverse Isaac Sim
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1

I have been using the Nova Carter because it worked seamlessly with ROS2 (thank you to the developer team)! Now I want to use a quadruped platform, but I’m having trouble figuring out how to enable the platform to use ROS2 in IsaacSim.

I understand that using an Omnigraph to build out the ROS2 structure might be the way, but how would that translate to the low level joint control of a quadruped? Could someone provide an outline of the steps needed to make a Quad platform work with ROS2?

3

Please refer to Quadruped Extension — Isaac Sim 4.2.0 (OLD).

4

I did see these pages, but the fact that the title says “(OLD)” made me think it wasn’t going to be supported for very long. Will there be major differences for the 4.5 version of IsaacSim?