How to create 'partition' for ROS2 Topics/Nodes
Hi all,
I am trying to figure if there is way to create partition for ROS2 Topics/Nodes.
The reason I am asking so is because: when I connect my device(ROS2) to a network, other devices on the same network can grab all the topics being published/ subscribed by that device, and I can see others as well. Thus, I am thinking whether can isolate the topics/nodes of robot internal comm (navigation, sensor msgs, robot transform, etc) and external comm (control command, robot status, etc) and keep minimum bridge in between both parts.
I had tried with using ROS_DOMAIN_ID
, but it seems this is creating completely isolated parts for topics and nodes in different domain ID.
Does anyone have experience with this topic? Your sharing/suggestion is welcomed and very much appreciated.
Thank you.
I think
service
can reduce the amount of traffic. https://index.ros.org/doc/ros2/Tutori...