There is currently no way (that I am aware of) to avoid forwarding topics across the bridge. I guess the situation you're describing is that you have publishers and subscribers on the topic `/tf`, for example, on both the ROS 1 and ROS 2 sides but you don't want them to talk? If you only had `/tf` publishers and subscribers on the ROS 1 side, then even though it would "bridge" that topic, there would be no one listening or contributing from the ROS 2 side anyways. If this is a feature you need, then I'd ask you to open an issue about it on the ros1_bridge's issue tracker: https://github.com/ros2/ros1_bridge/issues As for the message rate throttling, we could implement that into the bridge, but it could also be implemented on the ROS 1 side with some of the topic tools: http://wiki.ros.org/topic_tools/throttle It is clearer, in my opinion, to separate the bridging and throttling code unless there is a compelling reason to combine them. We're always happy to have contributions, it sounds like the "blacklist" of topics on the bridge would be a useful one. --- [Visit Topic](https://discourse.ros.org/t/finer-control-of-messages-forwarded-using-ros1-bridge/1183/2) 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: