As a DDS person and someone who built distributed industrial robotics systems I can tell you that partitions are by far the best way to go when trying to build such a system. DDS partitions are hierarchical and support wildcards. So the general approach is to publish all robot internal data on a partition called 'robot-X'. It gets more complicated when other systems like a global TF is involved. So a robot might want to know all local TFs and TFs provided by a external map server but not TFs from other robots. In this case the robot can subscribe to its local partition and to a global partition. Also, the use case of remote diagnostic systems is covered as they can on demand access all topics of a specific robot by just accessing the proper partition. I think it is really important to remove dependency of ROS 2 from DDS partitions and open them up for usage of the end user. --- [Visit Topic](https://discourse.ros.org/t/restricting-communication-between-robots/2931/10) 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: