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Here's what I ended up doing. I made node similar in function to the eprosima Soss tool or the ros1 bridge. This node uses the rclcpp api to create a participant, then uses a conglomeration of rmw_fastrtps_cpp code, modified to allow specifying a fastrtps profile name to use for that publisher or subscriber. This allows me to configure this bridge to publish and subscribe ros2 topics, and forward those messages according to the fastrtps profile. This lets me constrain all high-volume traffic to the robot, while being able to select which of those messages gets sent to the fleet controller (link to our Mobius Command and Control software). This also gives me the flexibility to take advantage of modifying the transport, discovery, qos, domain, partition, etc on the dds traffic over the wireless network.