Devices and nodes associated with a vehicle may communicate using a higher-level, common messaging protocol over an ad-hoc network to publish and subscribe to services, even though different nodes may utilize different types of links and channels. The network includes a rules node that is fixedly connected to the vehicle and that stores a set of rules. Given a possible publisher, subscriber, and/or a service, a node action is allowed or denied based on the set of rules. The rules may be generated or updated based on priorities, security levels, and/or characteristics of publishers, subscribers, their respective users, and/or services; a current dynamic condition; and/or user input. The rules node and at least one other node may be transported by the vehicle, and both transported nodes and nodes external to the vehicle may use the common messaging protocol to join the ad-hoc network, discover other nodes, authenticate, and publish/consume services.