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How to create 'partition' for ROS2 Topics/Nodes

asked 2020-11-24 22:24:28 -0600

simk0024 gravatar image

Hi all,

I am trying to figure if there is way to create partition for ROS2 Topics/Nodes.

The reason I am asking so is because: when I connect my device(ROS2) to a network, other devices on the same network can grab all the topics being published/ subscribed by that device, and I can see others as well. Thus, I am thinking whether can isolate the topics/nodes of robot internal comm (navigation, sensor msgs, robot transform, etc) and external comm (control command, robot status, etc) and keep minimum bridge in between both parts.

I had tried with using ROS_DOMAIN_ID, but it seems this is creating completely isolated parts for topics and nodes in different domain ID.

Does anyone have experience with this topic? Your sharing/suggestion is welcomed and very much appreciated.

Thank you.

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I think servicecan reduce the amount of traffic. https://index.ros.org/doc/ros2/Tutori...

miura gravatar image miura  ( 2020-11-25 09:45:25 -0600 )edit

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answered 2020-12-01 22:58:52 -0600

simk0024 gravatar image

I think SOSS can be used to bridge certain topics 2 ROS_DOMAIN_ID.

https://github.com/osrf/soss/blob/mas...

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Asked: 2020-11-24 22:24:28 -0600

Seen: 119 times

Last updated: Dec 01 '20