Communication between different domain ID of DDS in ROS2.

[sumitpaulde]

As you already know all the ROS2 nodes are not always on the same DDS domain, for fastdds there are systems handle for different systems, so that communication between dds<-->ros1, dds<-->ros2, ros2<-->ros1, domain_id_5<-->domain_id_15 is possible. https://github.com/eProsima/FastDDS-SH you can have a look here. Is there any way to communicate between different domain_id's? if possible then how?

[eboasson]

We rely on Zenoh for that — which by the way is also what was used for connecting the cars and the roadside stuff in the Indy Autonomous Challenge (there's a blog post giving some details).

[sumitpaulde]

Hey, @eboasson Thanks a lot, it worked!!