[quote="Kloping, post:5, topic:2380"] Is it a ros2_node that receive messages from a ros1_node and then simultaneously publish them? [/quote] :+1:, the bridge is a process that has a ROS 1 node and a ROS 2 node. It subscribes to topics on both sides and publish them on the other side. The default behavior of the dynamic_bridge is to bridge only topics that have a publisher on one side and a matching subscriber on the other side (for example a ROS1 publisher on "chatter" and a ROS2 subscriber on "chatter"). This behavior can be changed by using the [commandline arguments](https://github.com/ros2/ros1_bridge/blob/cf5108e0bfbf2b414edbd8b82276fb45157e5da9/src/dynamic_bridge.cpp#L83-L95) --- [Visit Topic](https://discourse.ros.org/t/ros1-bridge-in-binaries-files/2380/6) 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: