A DDS person would tell you to use partitions, probably. For us, since we're currently using DDS partitions in our implementation and don't expose them through the ROS 2 api, I would advise you to just use ROS namespaces. We're planning on having more sophisticated at runtime and during runtime topic manipulation to help with this. I gained a lot of insight on what would be needed to deal with situations like this when working on the [capabilities](https://github.com/osrf/capabilities) package as part of the rocon project. I think with some more options to configure the namespaces (remapping and aliasing) it will be a more tractable problem, but we don't have those features yet. A stronger separation would be to have different domains and have some bridges to expose parts of one domain to another. --- [Visit Topic](https://discourse.ros.org/t/restricting-communication-between-robots/2931/7) 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: