Industrial Internet of Things (IIoT) applications are mission-critical, which require a scalable data sharing and dissemination platform that supports quality of service (QoS) properties such as timeliness, resilience, and security. Although the Object Management Group (OMG)’s Data Distribution Service (DDS), which is a data-centric, peer-to-peer publish/subscribe standard supporting multiple QoS properties, is well-suited to meet the requirements of IIoT applications, its design and current technology limitations constrains its use to local area networks only. Moreover, although broker-based bridging services exist to inter-connect isolated DDS networks, these solutions lack autonomous and dynamic coordination and discovery capabilities that are needed to bridge multiple, isolated networks on demand. To address these limitations, and enable a practical and readily deployable solution for IIoT, this paper presents and empirically validates PubSubCoord, which is an autonomous, coordination and discovery service for DDS endpoints operating over wide area networks.