domain_bridge alternative with Zenoh #758
Description
Hi,
I need to host 4 different ROS2 applications from different partners on the same computer. These applications should be isolated wrt each other while only certain interfaces (topics, services or actions) between them can communicate. One might think of namespacing but namespacing with global topics (such as tf) can become a hassle when a large number of nodes are present.
The cleanest approach to the above problem would probably be to use different ROS_DOMAIN_ID per application for isolating all applications while using domain_bridge for allowing certain topics to communicate in between. However, domain_bridge only allows runtime configuration for topics. It has support for adding executables for services which imo may not be very convinient to use and unfortunately, no support for actions.
But that makes me wonder, can't such a functionality i.e. isolation by default and whitelisting for certain interfaces be realized with Zenoh? Of course with the benefit of being able to use it for all types of interfaces with runtime configuration.