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I could imagine using services, Whenever a robot 1 wants to talk to robot 3, it calls the service of robot 3 to engage a conversation. No need for subscriptions here, every robot just need to know the name of the services for each other robot.

I could imagine using services, Whenever a robot 1 wants to talk to robot 3, it calls the service of robot 3 to engage a conversation. No need for subscriptions here, every robot just need to know the name of the services for each other robot.robot. And only then when the conversation is engaged, both robots can subscribe to each other. When the conversation ends, the subscriptions should be canceled.