Hello all

I'm trying to create two different nodes using ROS2 Humble with default FastDDS RMW. I need to create two nodes, but using two different sets of FastDDS XML configuration. I tried to change the env value to point to another file in between the creation of the two nodes, but it did not work.

Ultimately I want to do this in the domainbridge in order to have each side connect to a different thing using the FastDDS whitelisting. This is the domainbridge code responsible for creating the nodes. I added something here to do a setenv if the domain_id the one I want

https://github.com/ros2/domain_bridge/blob/main/src/domain_bridge/domain_bridge.cpp#L134-L168

Any help on the subject is appreciated, Victor.