How can I transfer ROS2 message/service

I have a NodeX connected to NetworkA & Network_B.
I have a NodeY connected to NetworkA.
I have a NodeZ connected to NetworkB.

If I publish on NodeY it will go through NetworkA and reach NodeX. How can I make NodeX send the data received via NodeY to NodeZ through the Network_B ?

I guess I can just get subscribed to the message and publish it back BUT I would like it to be automated. Basically, I want a dynamic_bridge for ROS2 only. And I don't want it to rebuild the message/service but simply pass them.

How can I do this ?

Asked by maxime on 2020-07-20 16:33:10 UTC

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Answers

I think you will have to subscribe to the message in NodeX and republish the message on NetworkB

Asked by pedro1713 on 2020-07-21 09:17:18 UTC

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But what if it's a service ? With a specific type of .srv ? I just want something dynamic

Asked by maxime on 2020-07-21 11:09:30 UTC