In this paper we present our solution which aims to be a generic streaming data bridge. It utilizes a modular architecture with current support for MQTT, ROS1, ROS2, Kafka and relational database management systems (RDBMS), such as MySQL or PosgreSQL as data sources or destinations. Our solution also supports custom transformations of messages and using multiple sources and destinations within a single bridge instance. We compare our solution to existing generic streaming solutions (such as the GUI-based Apache NiFi) and custom-made bridge codes (such as a ROS to MQTT bridge). Next, we present two use cases for our solution from different projects. In the first use case ROS messages are received from drones, transformed and sent to a cloud-based Kafka cluster. The second use case is representing an industrial IoT use case where MQTT messages are received, transformed and sent to a PostgreSQL server for persistent storage. Finally, we evaluate the performance and reliability of our solution using the second use case.