udp_proxy_generator generates simple multicast proxies for ros topics. In order to generate a proxy, follow these steps: 1) Create a new package. 2) Put a relayMsgs.conf into the package's folder. (See example/relayMsgs.conf) 3) Define dependencies for the new package, namely: Castor, udp_proxy_gen, and all packages that define messages you want to proxy. 4) Include the udp.cmake file in your CMakeFile. 5) Call rosbuild_make_udpProxy from your CMakeFile. 6) rosmake 7) Add a UdpProxy.conf to your ES_ROOT/etc or ES_CONFIG_ROOT path. (See example/UdpProxy.conf). 8) You have a working proxy.