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Now the problem is that I want to publish this new MarkerArray into the other existing topic "obstacles_markers"

that's not really a problem.

is that possible?

yes, of course.

Publish-subscribe is a many-to-many interaction pattern/style.

Subscribers do not know who published a message, nor do publishers know who subscribers are.

In fact, publishers do not know anything about subscribers (nor the other way around).

So it's perfectly possible to publish to the same topic from different nodes.