Hi guys, On Fast RTPS you can listen to discovery data: http://eprosima-fast-rtps.readthedocs.io/en/latest/advanced.html#subscribing-to-discovery-topics Also, you can set the endpoints for discovery: http://eprosima-fast-rtps.readthedocs.io/en/latest/pubsub.html#defining-input-and-output-channels --- [Visit Topic](http://discourse.ros.org/t/ros-graph-information-tools-implementation-discussion/674/25) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: