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[JakeFishcode]

I have two hosts using the Docker image osrf/ros:humble-desktop-full (Ubuntu 22.04). The left host has the IP address 10.60.2.209 and the right host has the IP address 10.60.2.97.

Left Host (10.60.2.209) CycloneDDS Configuration:

<CycloneDDS>
 <Domain>
     <General>
         <Interfaces>
             <NetworkInterface address="10.60.2.209" multicast="true"/> 
         </Interfaces>
         <DontRoute>true</DontRoute>
     </General>
 </Domain>
</CycloneDDS>

.bashrc

export ROS_DOMAIN_ID=124
export ROS_LOCALHOST_ONLY=1
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
sudo ip l set lo multicast on
export CYCLONEDDS_URI=/test.xml

bash

zenoh-bridge-ros2dds  -e tcp/10.60.2.209:7447

Right Host (10.60.2.97) CycloneDDS Configuration:

<CycloneDDS>
 <Domain>
     <General>
         <Interfaces>
             <NetworkInterface address="10.60.2.97" multicast="true"/>
         </Interfaces>
         <DontRoute>true</DontRoute>
     </General>
 </Domain>
</CycloneDDS>

.bashrc

export ROS_DOMAIN_ID=125
export ROS_LOCALHOST_ONLY=1
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
sudo ip l set lo multicast on
export CYCLONEDDS_URI=/test.xml

bash

zenoh-bridge-ros2dds

I am using the following Docker command to start the containers on both hosts:

docker run -it --privileged \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v /usr/lib/nvidia:/usr/lib/nvidia \
  -v /dev/*:/dev/* \
  --net=host \
  -e QT_X11_NO_MITSHM=1 \
  -e __NV_PRIME_RENDER_OFFLOAD=1 \
  -e __GLX_VENDOR_LIBRARY_NAME=nvidia \
  -e DISPLAY=$DISPLAY \
  -e NVIDIA_VISIBLE_DEVICES=all \
  -e NVIDIA_DRIVER_CAPABILITIES=all \
  --gpus=all \
  --name=host_test \
  osrf/ros:humble-desktop-full /bin/bash

Issue:
The demo_nodes_cpp package can listen, but no data is being received.
Question:
Is there any issue with my CycloneDDS configuration? If so, what changes should be made to ensure proper communication between the nodes on the different hosts?
Sometimes it will like: