This is a very common thing that comes up in Navigatoin2-land as people are deploying fleets and I’d also be interested in knowing some best practices around this. Perhaps some folks at Open Robotics that considered multi-robot requirement in the design phase would be able to chime in. @Katherine_Scott could you connect us with the right people?
Your suggestion sounds like the most reasonable thing I’ve considered as well, but it would be awesome to be able to have an approved list of topics to share with other domains (ex. /tf /robot_pose /task_id /path etc).
If we can create some common design patterns here, it would be invaluable to developing standards and capabilities in the mobile robot ecosystem around multirobot tooling (which we can’t do much about today because there’s no recommendd pattern most people follow).