Create a bidirectional bridge

[dirk-thomas]

• having a ROS 2 publisher and subscriber with the same topic and type fails at runtime
• to prevent routing loops the bridge must not accept messages coming from itself
  • for ROS 1 it checks the callerid and drop the message after receiving it
  • for ROS 2 it checks the guid of the sample in the dds buffer and skips taking it

[dirk-thomas]

This is blocked by being able to have publishers and subscribers for the same topic and type in a single process (see failing test ros2/system_tests#13).

[dirk-thomas]

Done 1f81ae3