# \#ros

**URL:** https://forum.beamng.tech/tag/ros/50.md

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## [PointCloud2 messages on a different frame\_id than "map"](https://forum.beamng.tech/t/pointcloud2-messages-on-a-different-frame-id-than-map/474)

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**Author:** [@vjexposito](https://forum.beamng.tech/u/vjexposito)\
**Replies:** 3\
**Last updated:** [30 June 2026 10:00 UTC](https://forum.beamng.tech/t/pointcloud2-messages-on-a-different-frame-id-than-map/474 "2026-06-30T10:00:25Z")

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I work with ROS2 and BeamNG bridge and I have realised I can only retrieve the PointCloud2 messages from the lidar placed on the “map” frame\_id. To avoid unnecessary transformations, is there any way to retrieve the Poin…

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## [Controlling Multiple Agents Using ROS2 Integration: Is It Possible?](https://forum.beamng.tech/t/controlling-multiple-agents-using-ros2-integration-is-it-possible/203)

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**Author:** [@Daddysublime](https://forum.beamng.tech/u/Daddysublime)\
**Replies:** 4\
**Last updated:** [13 June 2025 09:50 UTC](https://forum.beamng.tech/t/controlling-multiple-agents-using-ros2-integration-is-it-possible/203 "2025-06-13T09:50:28Z")

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Hi everyone, I’m currently working on integrating BeamNG.tech with ROS2 and would like to know if it’s possible to control multiple vehicles (agents) simultaneously using the ROS2 bridge. Right now, I’m using the follow…