For that to work I think you need to be able to set the domain id on a topic. Is that possible? Or have different namespace for internal and external messages and possibility to set domain id and QoS per namespace and topic. We also have the caser were data sent intenrlly have different QoS specification than data sent externally. Is that supported in any way? --- [Visit Topic](https://discourse.ros.org/t/restricting-communication-between-robots/2931/3) 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: