using two nodes at a time
i have two nodes 1) which receives CAN messages from uc board to ROS (publisher) 2) which transmit CAN messages to uc board (subscribing). I need to run both the nodes in order to to these two tasks. Now I am supposed to do: if receive node receives message, it should transmit a CAN message. How can I combine these two nodes or how can use one node information by other?. any suggestions