diff --git a/communications/comms_bridge/CMakeLists.txt b/communications/comms_bridge/CMakeLists.txt
index d4de1bfdce..a9f6aaf995 100644
--- a/communications/comms_bridge/CMakeLists.txt
+++ b/communications/comms_bridge/CMakeLists.txt
@@ -92,18 +92,13 @@ include_directories(
   ${Boost_INCLUDE_DIRS}
 )
 
+file(GLOB cc_files
+     "src/*.cpp"
+)
 
 # Declare C++ libraries
 add_library(comms_bridge
-  src/bridge_publisher.cpp
-  src/bridge_subscriber.cpp
-  src/generic_rapid_msg_ros_pub.cpp
-  src/generic_ros_sub_rapid_pub.cpp
-  src/comms_bridge_nodelet.cpp
-  src/generic_rapid_sub.cpp
-  src/rapid_advertisement_info.cpp
-  #src/rapid_content.cpp
-  src/util.cpp
+  ${cc_files}
 )
 target_compile_definitions(comms_bridge PUBLIC ${RTIDDS_DEFINE_FLAGS})
 add_dependencies(comms_bridge ${catkin_EXPORTED_TARGETS})
diff --git a/communications/comms_bridge/include/comms_bridge/generic_rapid_msg_ros_pub.h b/communications/comms_bridge/include/comms_bridge/generic_rapid_msg_ros_pub.h
index 11a9aff3e1..16e46f9c05 100644
--- a/communications/comms_bridge/include/comms_bridge/generic_rapid_msg_ros_pub.h
+++ b/communications/comms_bridge/include/comms_bridge/generic_rapid_msg_ros_pub.h
@@ -38,8 +38,8 @@ class GenericRapidMsgRosPub : public BridgePublisher {
   explicit GenericRapidMsgRosPub(double ad2pub_delay = DEFAULT_ADVERTISE_TO_PUB_DELAY);
   virtual ~GenericRapidMsgRosPub();
 
-  void ConvertAdvertisementInfo(rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data);
-  void ConvertContent(rapid::ext::astrobee::GenericCommsContent const* data);
+  void ConvertData(rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data);
+  void ConvertData(rapid::ext::astrobee::GenericCommsContent const* data);
 };
 
 }  // end namespace ff
diff --git a/communications/comms_bridge/include/comms_bridge/generic_rapid_sub.h b/communications/comms_bridge/include/comms_bridge/generic_rapid_sub.h
index 19033d1cb7..fcd09522de 100644
--- a/communications/comms_bridge/include/comms_bridge/generic_rapid_sub.h
+++ b/communications/comms_bridge/include/comms_bridge/generic_rapid_sub.h
@@ -32,43 +32,75 @@
 
 #include "knShare/Time.h"
 
+#include "dds_msgs/GenericCommsAdvertisementInfoSupport.h"
+#include "dds_msgs/GenericCommsContentSupport.h"
+
 namespace ff {
 
-/**
- * @brief base class for rapid subscriber to ros publisher
- * @details base class for rapid subscriber to ros publisher.
- *          A kn::DdsEventLoop is run within its own thread of execution.
- *          Child classes must connect requeseted messege and callback
- *          to m_ddsEventLoop and call startThread()
- */
+template<typename T>
 class GenericRapidSub {
- protected:
+ public:
   GenericRapidSub(const std::string& entity_name,
                   const std::string& subscribe_topic,
-                  GenericRapidMsgRosPub* rapid_msg_ros_pub);
-  ~GenericRapidSub();
+                  const std::string& subscriber_partition,
+                  GenericRapidMsgRosPub* rapid_msg_ros_pub)
+      : dds_event_loop_(entity_name),
+        subscribe_topic_(subscribe_topic),
+        subscriber_partition_(subscriber_partition),
+        ros_pub_(rapid_msg_ros_pub) {
+    // connect to ddsEventLoop
+    try {
+      dds_event_loop_.connect<T>(this,
+                                 subscribe_topic,       // topic
+                                 subscriber_partition,  // name
+                                 entity_name,           // profile
+                                 "");                   // library
+    } catch (std::exception& e) {
+      ROS_ERROR_STREAM("Rapid exception: " << e.what());
+      throw;
+    } catch (...) {
+      ROS_ERROR("Rapid exception unknown");
+      throw;
+    }
 
-  /**
-   * Will start thread execution by calling threadExec()
-   */
-  virtual void StartThread();
+    // start joinable thread
+    thread_ = std::thread(&GenericRapidSub::ThreadExec, this);
+  }
+
+  ~GenericRapidSub() {
+    alive_ = false;  // Notify thread to exit
+    thread_.join();
+  }
 
+  void operator() (T const* data) {
+    ros_pub_->ConvertData(data);
+  }
+
+ private:
   GenericRapidMsgRosPub* ros_pub_;
   std::string subscribe_topic_;
+  std::string subscriber_partition_;
 
   std::atomic<bool> alive_;
   std::thread thread_;
   kn::DdsEventLoop dds_event_loop_;
 
- private:
   /**
   * Function to execute within seperate thread
   *   process DdsEventLoop at 10Hz
   */
-  virtual void ThreadExec();
+  void ThreadExec() {
+    while (alive_) {
+      // process events at 10hz
+      dds_event_loop_.processEvents(kn::milliseconds(100));
+    }
+  }
 };
 
-typedef std::shared_ptr<GenericRapidSub> GenericRapidSubPtr;
+typedef std::shared_ptr<GenericRapidSub<rapid::ext::astrobee::GenericCommsAdvertisementInfo>>
+    AdvertisementInfoRapidSubPtr;
+typedef std::shared_ptr<GenericRapidSub<rapid::ext::astrobee::GenericCommsContent>>
+    ContentRapidSubPtr;
 
 }  // end namespace ff
 
diff --git a/communications/comms_bridge/include/comms_bridge/generic_ros_sub_rapid_pub.h b/communications/comms_bridge/include/comms_bridge/generic_ros_sub_rapid_pub.h
index 3b3f559fd5..42d8ee0205 100644
--- a/communications/comms_bridge/include/comms_bridge/generic_ros_sub_rapid_pub.h
+++ b/communications/comms_bridge/include/comms_bridge/generic_ros_sub_rapid_pub.h
@@ -46,7 +46,8 @@ class GenericROSSubRapidPub : public BridgeSubscriber {
   GenericROSSubRapidPub();
   ~GenericROSSubRapidPub();
 
-  void InitializeDDS(std::string agent_name);
+  void InitializeDDS();
+
   void SizeCheck(unsigned int &size,
                  const int size_in,
                  const int max_size,
diff --git a/communications/comms_bridge/include/comms_bridge/rapid_advertisement_info.h b/communications/comms_bridge/include/comms_bridge/rapid_advertisement_info.h
deleted file mode 100644
index 059cebd28d..0000000000
--- a/communications/comms_bridge/include/comms_bridge/rapid_advertisement_info.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#ifndef COMMS_BRIDGE_RAPID_ADVERTISEMENT_INFO_H_
-#define COMMS_BRIDGE_RAPID_ADVERTISEMENT_INFO_H_
-
-#include <string>
-#include <cstring>
-#include <vector>
-
-#include "comms_bridge/generic_rapid_msg_ros_pub.h"
-#include "comms_bridge/generic_rapid_sub.h"
-#include "comms_bridge/util.h"
-
-#include "dds_msgs/AstrobeeConstants.h"
-#include "dds_msgs/GenericCommsAdvertisementInfoSupport.h"
-
-#include "knDds/DdsTypedSupplier.h"
-
-#include "rapidDds/RapidConstants.h"
-
-#include "rapidUtil/RapidHelper.h"
-
-namespace ff {
-
-class RapidAdvertisementInfo : public GenericRapidSub {
- public:
-  RapidAdvertisementInfo(const std::string& subscribe_topic,
-                         const std::string& subscriber_partition,
-                         GenericRapidMsgRosPub* rapid_msg_ros_pub);
-
-  /**
-   * call back for ddsEventLoop
-   */
-  void operator() (rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data);
-
- private:
-  std::string subscriber_partition_;
-};
-
-}  // end namespace ff
-
-#endif  // COMMS_BRIDGE_RAPID_ADVERTISEMENT_INFO_H_
diff --git a/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_publisher.h b/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_publisher.h
deleted file mode 100644
index be1e5bca6a..0000000000
--- a/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_publisher.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#ifndef COMMS_BRIDGE_ROS_ROS_BRIDGE_PUBLISHER_H_
-#define COMMS_BRIDGE_ROS_ROS_BRIDGE_PUBLISHER_H_
-
-/* This is a specialization of ROSBridgePublisher using a ROS conduit
-   that is another topic on the same ROS master
-   ie, it's a ROS-ROS bridge over ROS
-*/
-
-#include <ff_msgs/RelayAdvertisement.h>
-#include <ff_msgs/RelayContent.h>
-#include <ff_msgs/RelayReset.h>
-
-#include <comms_bridge/bridge_publisher.h>
-
-#include <string>
-
-#define DEFAULT_ROSROSBRIDGE_PUB_META_TOPIC_PREFIX "/polymorph_relay"
-// default time to delay between advertising and publishing on that topic [sec]
-#define DEFAULT_ROSROSBRIDGE_PUB_ADVERTISE_DELAY 3.0
-
-class ROSROSBridgePublisher : public BridgePublisher {
- public:
-  ROSROSBridgePublisher(const std::string& meta_topic_prefix = DEFAULT_ROSROSBRIDGE_PUB_META_TOPIC_PREFIX,
-                        double ad2pub_delay = DEFAULT_ROSROSBRIDGE_PUB_ADVERTISE_DELAY);
-  virtual ~ROSROSBridgePublisher();
-
- protected:
-  void setupMetaChannels();
-  void setupReverseMetaChannels();
-
-  void requestTopicInfo(std::string const& output_topic);
-
-  void handleContentMessage(const ff_msgs::RelayContent::ConstPtr& msg);
-  void handleAdMessage(const ff_msgs::RelayAdvertisement::ConstPtr& msg);
-
-  std::string m_meta_topic_prefix;
-  ros::Subscriber m_advert_sub;
-  ros::Subscriber m_content_sub;
-  ros::Publisher m_reset_pub;
-
-  // prohibit shallow copy or assignment
-  ROSROSBridgePublisher(const ROSROSBridgePublisher&) : BridgePublisher(m_ad2pub_delay) {}
-  void operator=(const ROSROSBridgePublisher&) {}
-};
-
-#endif  // COMMS_BRIDGE_ROS_ROS_BRIDGE_PUBLISHER_H_
diff --git a/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_subscriber.h b/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_subscriber.h
deleted file mode 100644
index c53650d2be..0000000000
--- a/communications/comms_bridge/include/comms_bridge/ros_ros_bridge_subscriber.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#ifndef COMMS_BRIDGE_ROS_ROS_BRIDGE_SUBSCRIBER_H_
-#define COMMS_BRIDGE_ROS_ROS_BRIDGE_SUBSCRIBER_H_
-
-/* This is a specialization of ROSBridgeSubscriber using a ROS conduit
-   that is another topic on the same ROS master
-   ie, it's a ROS-ROS bridge over ROS
-*/
-
-#include <ff_msgs/RelayAdvertisement.h>
-#include <ff_msgs/RelayContent.h>
-#include <ff_msgs/RelayReset.h>
-
-#include <comms_bridge/bridge_subscriber.h>
-
-#include <string>
-#include <map>
-
-#define DEFAULT_ROSROSBRIDGE_PUB_META_TOPIC_PREFIX "/polymorph_relay"
-
-class ROSROSBridgeSubscriber : public BridgeSubscriber {
- public:
-  explicit ROSROSBridgeSubscriber(const std::string& meta_topic_prefix = DEFAULT_ROSROSBRIDGE_PUB_META_TOPIC_PREFIX);
-  virtual ~ROSROSBridgeSubscriber();
-
-  // Called with the mutex held
-  virtual void subscribeTopic(std::string const& in_topic, const RelayTopicInfo& info);
-
-  // Called with the mutex held
-  virtual void advertiseTopic(const RelayTopicInfo& info);
-
-  // Called with the mutex held
-  virtual void relayMessage(const RelayTopicInfo& topic_info, ContentInfo const& content_info);
-
- protected:
-  void setupMetaChannels();
-  void setupReverseMetaChannels();
-  void handleResetMessage(const ff_msgs::RelayReset::ConstPtr& msg);
-
-  std::string m_meta_topic_prefix;
-  unsigned int m_n_advertised;
-  ros::Publisher m_advertiser_pub;
-  ros::Publisher m_relayer_pub;
-  ros::Subscriber m_reset_sub;
-
-  std::map<std::string, bool> requested_resets;  // topics requiring re-advert
-
-  // prohibit shallow copy or assignment
-  ROSROSBridgeSubscriber(const ROSROSBridgeSubscriber&) {}
-  void operator=(const ROSROSBridgeSubscriber&) {}
-};
-
-#endif  // COMMS_BRIDGE_ROS_ROS_BRIDGE_SUBSCRIBER_H_
diff --git a/communications/comms_bridge/src/comms_bridge_nodelet.cpp b/communications/comms_bridge/src/comms_bridge_nodelet.cpp
index 8684ba8a86..dc3d462088 100644
--- a/communications/comms_bridge/src/comms_bridge_nodelet.cpp
+++ b/communications/comms_bridge/src/comms_bridge_nodelet.cpp
@@ -35,8 +35,11 @@
 #include <vector>
 
 #include "comms_bridge/generic_rapid_msg_ros_pub.h"
+#include "comms_bridge/generic_rapid_sub.h"
 #include "comms_bridge/generic_ros_sub_rapid_pub.h"
 
+#include "dds_msgs/AstrobeeConstants.h"
+
 // SoraCore
 #include "knDds/DdsSupport.h"
 #include "knDds/DdsEntitiesFactory.h"
@@ -182,9 +185,31 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
     dds_entities_factory_.reset(new kn::DdsEntitiesFactorySvc());
     dds_entities_factory_->init(dds_params);
 
-    ros_sub_.InitializeDDS(agent_name_);
+    InitializeDDS();
+  }
 
-    // TODO(Katie): Add more publisher stuff here
+  void InitializeDDS() {
+    std::string connection;
+    ff::AdvertisementInfoRapidSubPtr advertisement_info_sub;
+    ff::ContentRapidSubPtr content_sub;
+    ros_sub_.InitializeDDS();
+    for (size_t i = 0; i < rapid_connections_.size(); i++) {
+      // Lower case the external agent name to use it like a namespace
+      connection = rapid_connections_[i];
+      connection[0] = tolower(connection[0]);
+      advertisement_info_sub =
+        std::make_shared<ff::GenericRapidSub<rapid::ext::astrobee::GenericCommsAdvertisementInfo>>(
+          "AstrobeeGenericCommsAdvertisementInfoProfile", rapid::ext::astrobee::GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC,
+          connection, ros_pub_.get());
+      advertisement_info_rapid_subs_.push_back(advertisement_info_sub);
+
+      content_sub = std::make_shared<ff::GenericRapidSub<rapid::ext::astrobee::GenericCommsContent>>(
+          "AstrobeeGenericCommsContentProfile",
+          rapid::ext::astrobee::GENERIC_COMMS_CONTENT_TOPIC,
+          connection,
+          ros_pub_.get());
+      content_rapid_subs_.push_back(content_sub);
+    }
   }
 
   bool ReadParams() {
@@ -241,7 +266,7 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
 
     // This should be very quick since we shouldn't have more than 2 connections
     bool found = false;
-    for (int i = 0; i < rapid_connections_.size() && !found; i++) {
+    for (size_t i = 0; i < rapid_connections_.size() && !found; i++) {
       if (connection == rapid_connections_[i]) {
         found = true;
       }
@@ -258,7 +283,7 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
     config_reader::ConfigReader::Table relay_table, relay_item;
     std::string topic_name;
     if (link_table.GetTable(table_name.c_str(), &relay_table)) {
-      for (int i = 1; i <= relay_table.GetSize(); i++) {
+      for (size_t i = 1; i <= relay_table.GetSize(); i++) {
         relay_table.GetTable(i, &relay_item);
         if (!relay_item.GetStr("name", &topic_name)) {
            NODELET_ERROR("Comms Bridge Nodelet: Agent topic name not specified!");
@@ -272,6 +297,8 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
  private:
   config_reader::ConfigReader config_params_;
   ff::GenericROSSubRapidPub ros_sub_;
+  std::vector<ff::ContentRapidSubPtr> content_rapid_subs_;
+  std::vector<ff::AdvertisementInfoRapidSubPtr> advertisement_info_rapid_subs_;
   std::shared_ptr<kn::DdsEntitiesFactorySvc> dds_entities_factory_;
   std::shared_ptr<ff::GenericRapidMsgRosPub> ros_pub_;
   std::string agent_name_, participant_name_;
diff --git a/communications/comms_bridge/src/generic_rapid_msg_ros_pub.cpp b/communications/comms_bridge/src/generic_rapid_msg_ros_pub.cpp
index 27f0d886bd..f981dca3fc 100644
--- a/communications/comms_bridge/src/generic_rapid_msg_ros_pub.cpp
+++ b/communications/comms_bridge/src/generic_rapid_msg_ros_pub.cpp
@@ -29,7 +29,7 @@ GenericRapidMsgRosPub::GenericRapidMsgRosPub(double ad2pub_delay) :
 
 GenericRapidMsgRosPub::~GenericRapidMsgRosPub() {}
 
-void GenericRapidMsgRosPub::ConvertAdvertisementInfo(
+void GenericRapidMsgRosPub::ConvertData(
             rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data) {
   const std::lock_guard<std::mutex> lock(m_mutex_);
 
@@ -50,7 +50,7 @@ void GenericRapidMsgRosPub::ConvertAdvertisementInfo(
   }
 }
 
-void GenericRapidMsgRosPub::ConvertContent(
+void GenericRapidMsgRosPub::ConvertData(
                       rapid::ext::astrobee::GenericCommsContent const* data) {
   const std::lock_guard<std::mutex> lock(m_mutex_);
 
diff --git a/communications/comms_bridge/src/generic_rapid_sub.cpp b/communications/comms_bridge/src/generic_rapid_sub.cpp
deleted file mode 100644
index 61f1889c65..0000000000
--- a/communications/comms_bridge/src/generic_rapid_sub.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- *
- * All rights reserved.
- *
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#include "comms_bridge/generic_rapid_sub.h"
-
-#include <string>
-
-namespace ff {
-
-GenericRapidSub::GenericRapidSub(const std::string& entity_name, const std::string& subscribe_topic,
-                                 GenericRapidMsgRosPub* rapid_msg_ros_pub)
-    : dds_event_loop_(entity_name), subscribe_topic_(subscribe_topic), ros_pub_(rapid_msg_ros_pub) {}
-
-GenericRapidSub::~GenericRapidSub() {
-  alive_ = false;  // Notify thread to exit
-  thread_.join();
-}
-
-void GenericRapidSub::StartThread() {
-  // start joinable thread
-  thread_ = std::thread(&GenericRapidSub::ThreadExec, this);
-}
-
-void GenericRapidSub::ThreadExec() {
-  while (alive_) {
-    // process events at 10hz
-    dds_event_loop_.processEvents(kn::milliseconds(100));
-  }
-}
-
-}  // end namespace ff
diff --git a/communications/comms_bridge/src/generic_ros_sub_rapid_pub.cpp b/communications/comms_bridge/src/generic_ros_sub_rapid_pub.cpp
index 4d1666effd..5df2cd0625 100644
--- a/communications/comms_bridge/src/generic_ros_sub_rapid_pub.cpp
+++ b/communications/comms_bridge/src/generic_ros_sub_rapid_pub.cpp
@@ -27,14 +27,14 @@ GenericROSSubRapidPub::GenericROSSubRapidPub() :
 
 GenericROSSubRapidPub::~GenericROSSubRapidPub() {}
 
-void GenericROSSubRapidPub::InitializeDDS(std::string agent_name) {
+void GenericROSSubRapidPub::InitializeDDS() {
   advertisement_info_supplier_.reset(
       new GenericROSSubRapidPub::AdvertisementInfoSupplier(
-          rapid::ext::astrobee::GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC + agent_name,
+          rapid::ext::astrobee::GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC,
           "", "AstrobeeGenericCommsAdvertisementInfoProfile", ""));
 
   content_supplier_.reset(new GenericROSSubRapidPub::ContentSupplier(
-                rapid::ext::astrobee::GENERIC_COMMS_CONTENT_TOPIC + agent_name,
+                rapid::ext::astrobee::GENERIC_COMMS_CONTENT_TOPIC,
                 "", "AstrobeeGenericCommsContentProfile", ""));
 
   rapid::RapidHelper::initHeader(advertisement_info_supplier_->event().hdr);
diff --git a/communications/comms_bridge/src/rapid_advertisement_info.cpp b/communications/comms_bridge/src/rapid_advertisement_info.cpp
deleted file mode 100644
index 2d3a2a42f9..0000000000
--- a/communications/comms_bridge/src/rapid_advertisement_info.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#include "comms_bridge/rapid_advertisement_info.h"
-
-#include <string>
-
-namespace ff {
-
-RapidAdvertisementInfo::RapidAdvertisementInfo(const std::string& subscribe_topic,
-                                               const std::string& subscriber_partition,
-                                               GenericRapidMsgRosPub* rapid_msg_ros_pub)
-    : GenericRapidSub("AstrobeeGenericCommsAdvertisementInfoProfile", subscribe_topic, rapid_msg_ros_pub),
-      subscriber_partition_(subscriber_partition) {
-  // connect to ddsEventLoop
-  try {
-    dds_event_loop_.connect<rapid::ext::astrobee::GenericCommsAdvertisementInfo>(
-        this,
-        subscribe_topic,                          // topic
-        subscriber_partition,                      // name
-        "AstrobeeGenericCommsAdvertisementInfo",  // profile
-        "");                                      // library
-  } catch (std::exception& e) {
-    ROS_ERROR_STREAM("RapidAdvertisementInfo exception: " << e.what());
-    throw;
-  } catch (...) {
-    ROS_ERROR("RapidAdvertisementInfo exception unknown");
-    throw;
-  }
-
-  // start thread
-  StartThread();
-}
-
-void RapidAdvertisementInfo::operator() (
-            rapid::ext::astrobee::GenericCommsAdvertisementInfo const* data) {
-  ros_pub_->ConvertAdvertisementInfo(data);
-}
-
-}  // end namespace ff
diff --git a/communications/comms_bridge/src/ros_ros_bridge_publisher.cpp b/communications/comms_bridge/src/ros_ros_bridge_publisher.cpp
deleted file mode 100644
index 40c018622c..0000000000
--- a/communications/comms_bridge/src/ros_ros_bridge_publisher.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#include <sstream>
-#include <string>
-#include <map>
-
-#include "comms_bridge/ros_ros_bridge_publisher.h"
-
-// ROS internal subscriber message queue size
-#define SUBSCRIBER_QUEUE_SIZE 10
-// ROS internal publisher message queue size
-#define PUBLISHER_QUEUE_SIZE 10
-
-ROSROSBridgePublisher::ROSROSBridgePublisher(const std::string& meta_topic_prefix, double ad2pub_delay)
-    : BridgePublisher(ad2pub_delay), m_meta_topic_prefix(meta_topic_prefix) {
-  setupMetaChannels();
-  setupReverseMetaChannels();
-}
-
-ROSROSBridgePublisher::~ROSROSBridgePublisher() {}
-
-void ROSROSBridgePublisher::setupMetaChannels() {
-  ros::NodeHandle nh;
-
-  std::string advertisement_topic = m_meta_topic_prefix + "/advert";
-  if (m_verbose > 0)
-    printf("advert topic = %s\n", advertisement_topic.c_str());
-  m_advert_sub =
-    nh.subscribe(advertisement_topic, SUBSCRIBER_QUEUE_SIZE, &ROSROSBridgePublisher::handleAdMessage, this);
-
-  std::string content_topic = m_meta_topic_prefix + "/content";
-  if (m_verbose > 0)
-    printf("content topic = %s\n", content_topic.c_str());
-  m_content_sub =
-    nh.subscribe(content_topic, SUBSCRIBER_QUEUE_SIZE, &ROSROSBridgePublisher::handleContentMessage, this);
-}
-
-void ROSROSBridgePublisher::setupReverseMetaChannels() {
-  ros::NodeHandle nh;
-
-  std::string reset_topic = m_meta_topic_prefix + "/reset";
-  m_reset_pub = nh.advertise<ff_msgs::RelayReset>(reset_topic, PUBLISHER_QUEUE_SIZE);
-}
-
-void ROSROSBridgePublisher::requestTopicInfo(std::string const& output_topic) {
-  ff_msgs::RelayReset reset_msg;
-
-  reset_msg.header.seq = 0;
-  reset_msg.header.stamp = ros::Time::now();
-
-  reset_msg.topic = output_topic;
-
-  m_reset_pub.publish(reset_msg);
-}
-
-void ROSROSBridgePublisher::handleContentMessage(const ff_msgs::RelayContent::ConstPtr& msg) {
-  const std::lock_guard<std::mutex> lock(m_mutex);
-
-  const std::string output_topic = msg->output_topic;
-
-  if (m_verbose)
-    printf("Received content message for topic %s\n", output_topic.c_str());
-
-  std::map<std::string, RelayTopicInfo>::iterator iter = m_relay_topics.find(output_topic);
-  if (iter == m_relay_topics.end()) {
-    // first time seeing this topic
-    // The advertisement that preceded this was either lost, delayed out of
-    //  order, or we the publisher were restarted after it was sent
-    if (m_verbose)
-      printf("  first seeing topic\n");
-
-    RelayTopicInfo topic_info;
-    topic_info.out_topic = output_topic;
-    topic_info.ad_info.md5_sum = msg->type_md5_sum;
-    iter = m_relay_topics.emplace(output_topic, topic_info).first;
-
-    requestTopicInfo(output_topic);
-  }
-
-  RelayTopicInfo &topic_info = iter->second;
-
-  ContentInfo content_info;
-  content_info.type_md5_sum = msg->type_md5_sum;
-  content_info.data = msg->msg;
-
-  if (!relayMessage(topic_info, content_info))
-    printf("  error relaying message\n");
-}
-
-void ROSROSBridgePublisher::handleAdMessage(const ff_msgs::RelayAdvertisement::ConstPtr& msg) {
-  const std::lock_guard<std::mutex> lock(m_mutex);
-
-  const std::string output_topic = msg->output_topic;
-
-  if (m_verbose)
-    printf("Received advertisement message for topic %s\n", output_topic.c_str());
-
-  AdvertisementInfo ad_info;
-  ad_info.md5_sum = msg->md5_sum;
-  ad_info.data_type = msg->data_type;
-  ad_info.definition = msg->definition;
-
-  if (!advertiseTopic(msg->output_topic, ad_info))
-    printf("  error advertising topic\n");
-}
diff --git a/communications/comms_bridge/src/ros_ros_bridge_subscriber.cpp b/communications/comms_bridge/src/ros_ros_bridge_subscriber.cpp
deleted file mode 100644
index ef53a7e5b9..0000000000
--- a/communications/comms_bridge/src/ros_ros_bridge_subscriber.cpp
+++ /dev/null
@@ -1,124 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-#include <string>
-#include <map>
-
-#include "comms_bridge/ros_ros_bridge_subscriber.h"
-
-// ROS internal subscriber message queue size
-#define SUBSCRIBER_QUEUE_SIZE 10
-// ROS internal publisher message queue size
-#define PUBLISHER_QUEUE_SIZE 10
-
-ROSROSBridgeSubscriber::ROSROSBridgeSubscriber(const std::string& meta_topic_prefix)
-    : m_meta_topic_prefix(meta_topic_prefix) {
-  m_n_advertised = 0;
-
-  setupMetaChannels();
-  setupReverseMetaChannels();
-}
-
-ROSROSBridgeSubscriber::~ROSROSBridgeSubscriber() {}
-
-void ROSROSBridgeSubscriber::setupMetaChannels() {
-  ros::NodeHandle nh;
-
-  std::string advertisement_topic = m_meta_topic_prefix + "/advert";
-  m_advertiser_pub = nh.advertise<ff_msgs::RelayAdvertisement>(advertisement_topic, PUBLISHER_QUEUE_SIZE);
-
-  std::string content_topic = m_meta_topic_prefix + "/content";
-  m_relayer_pub = nh.advertise<ff_msgs::RelayContent>(content_topic, PUBLISHER_QUEUE_SIZE);
-}
-
-void ROSROSBridgeSubscriber::setupReverseMetaChannels() {
-  ros::NodeHandle nh;
-
-  std::string reset_topic = m_meta_topic_prefix + "/reset";
-  m_reset_sub = nh.subscribe(reset_topic, SUBSCRIBER_QUEUE_SIZE, &ROSROSBridgeSubscriber::handleResetMessage, this);
-}
-
-void ROSROSBridgeSubscriber::handleResetMessage(const ff_msgs::RelayReset::ConstPtr& msg) {
-  const std::string out_topic = msg->topic;
-
-  const std::lock_guard<std::mutex> lock(m_mutex);
-
-  std::map<std::string, RelayTopicInfo>::iterator iter = m_relay_topics.begin();
-  while (iter != m_relay_topics.end()) {
-    if (iter->second.out_topic == out_topic)
-      break;
-    iter++;
-  }
-
-  if (iter == m_relay_topics.end()) {
-    if (m_verbose)
-      printf("Received reset on unknown topic %s\n", out_topic.c_str());
-    return;
-  }
-
-  if (m_verbose)
-    printf("Received reset for topic %s\n", out_topic.c_str());
-
-  requested_resets[out_topic] = true;
-}
-
-void ROSROSBridgeSubscriber::subscribeTopic(std::string const& in_topic, const RelayTopicInfo& info) {
-  // this is just the base subscriber letting us know it's adding a topic
-  // nothing more we need to do
-}
-
-void ROSROSBridgeSubscriber::advertiseTopic(const RelayTopicInfo& info) {
-  const AdvertisementInfo &ad_info = info.ad_info;
-
-  ff_msgs::RelayAdvertisement ad;
-
-  ad.header.seq = ++m_n_advertised;
-  ad.header.stamp = ros::Time::now();
-
-  ad.output_topic = info.out_topic;
-
-  ad.latching = ad_info.latching;
-
-  ad.data_type = ad_info.data_type;
-  ad.md5_sum = ad_info.md5_sum;
-  ad.definition = ad_info.definition;
-
-  m_advertiser_pub.publish(ad);
-}
-
-void ROSROSBridgeSubscriber::relayMessage(const RelayTopicInfo& topic_info, ContentInfo const& content_info) {
-  std::map<std::string, bool>::iterator iter = requested_resets.find(topic_info.out_topic);
-  if (iter != requested_resets.end()) {
-    advertiseTopic(topic_info);
-    requested_resets.erase(iter);
-  }
-
-  ff_msgs::RelayContent content;
-
-  content.header.seq = topic_info.relay_seqnum;
-  content.header.stamp = ros::Time::now();
-
-  content.output_topic = topic_info.out_topic;
-
-  content.type_md5_sum = content_info.type_md5_sum;
-
-  content.msg.resize(content_info.data_size);
-  std::memcpy(static_cast<void*>(content.msg.data()), static_cast<const void*>(content_info.data), content.msg.size());
-
-  m_relayer_pub.publish(content);
-}
diff --git a/communications/dds_msgs/idl/AstrobeeConstants.idl b/communications/dds_msgs/idl/AstrobeeConstants.idl
index 8e8cd972f1..9d022e663e 100644
--- a/communications/dds_msgs/idl/AstrobeeConstants.idl
+++ b/communications/dds_msgs/idl/AstrobeeConstants.idl
@@ -36,7 +36,6 @@ module rapid {
       const String64 FAULT_STATE_TOPIC = "astrobee_fault_state";
       const String64 GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC = "astrobee_generic_comms_advertisement_info";
       const String64 GENERIC_COMMS_CONTENT_TOPIC = "astrobee_generic_comms_content";
-      const String64 GENERIC_COMMS_RESET_TOPIC = "astrobee_generic_comms_reset";
       const String64 GNC_CONTROL_STATE_TOPIC = "astrobee_gnc_control_state";
       const String64 GNC_FAM_CMD_STATE_TOPIC = "astrobee_gnc_fam_cmd_state";
       const String64 GUEST_SCIENCE_CONFIG_TOPIC = "astrobee_guest_science_config";
diff --git a/communications/dds_msgs/idl/GenericCommsReset.idl b/communications/dds_msgs/idl/GenericCommsReset.idl
deleted file mode 100644
index b295a5afff..0000000000
--- a/communications/dds_msgs/idl/GenericCommsReset.idl
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright 2023 (c) 2023 Intelligent Robotics Group, NASA ARC
- */
-
-#include "Message.idl"
-
-module rapid {
-  module ext {
-    module astrobee {
-
-      //@copy-c-declaration class GenericCommsResetTypeSupport;
-      //@copy-c-declaration class GenericCommsResetDataWriter;
-      //@copy-c-declaration class GenericCommsResetDataReader;
-      //@copy-c-declaration struct GenericConmmsResetSeq;
-
-      //@copy-declaration /**
-      //@copy-declaration   * Reset message in case publisher didn't receive initial advertisement info message for this topic
-      //@copy-declaration   */
-      valuetype GenericCommsReset : Message {
-        //@copy-c-declaration #if RTI_DDS_VERSION_MAJOR < 4 || (RTI_DDS_VERSION_MAJOR == 4  && RTI_DDS_VERSION_MINOR < 5) || (RTI_DDS_VERSION_MAJOR == 4  && RTI_DDS_VERSION_MINOR  == 5 && RTI_DDS_VERSION_RELEASE != 'f' )
-        //@copy-c-declaration typedef GenericCommsResetTypeSupport TypeSupport;
-        //@copy-c-declaration typedef GenericCommsResetDataWriter DataWriter;
-        //@copy-c-declaration typedef GenericCommsResetDataReader DataReader;
-        //@copy-c-declaration typedef GenericCommsResetSeq Seq;
-        //@copy-c-declaration #endif
-        //@copy-c-declaration typedef GenericCommsReset Type;
-
-        //@copy-declaration // Topic for which metadata retransmission is requested
-        public String128 topic;
-      };
-    };
-  };
-};