Ahh sry, didn't see you wanted certain topics for both robots available. In this case I think using namespaces for the other topics should be the thing you are looking for. In theory DDS supports applications that use multiple DDS Domain IDs but I don't think ROS2 allows this. --- [Visit Topic](https://discourse.ros.org/t/restricting-communication-between-robots/2931/4) 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: