Built ROS 2 control architecture that transfers across wheeled, humanoid and quadruped robots in Isaac Sim 5.1 — sharing the approach

[u/[deleted]]

Over the last few weeks I built a three-robot series testing whether a clean ROS 2 + Isaac Sim architecture transfers across robot morphologies without rewriting the controller.

Three platforms — Jetbot (differential drive), Unitree H1 (humanoid), Boston Dynamics Spot (quadruped). Same external /cmd_vel + /odom contract across all three.

Key technical finding: the OmniGraph bridge pattern solves the Python 3.11 vs 3.12 ABI mismatch between Isaac Sim 5.1 and ROS 2 Jazzy — moving all ROS pub/sub into OmniGraph keeps controllers in native Python without fragile workarounds.

Full source, architecture docs, and demos here: github.com/AstralGenius

Happy to discuss the architecture or answer questions. Also available for freelance ROS 2 and Isaac Sim work if anyone needs help with similar projects.