CARLA ROS Bridge Docker Container having issues initially connecting to CARLA Server running in a Docker Container

[UrbanPistek]

CARLA version: 0.9.13 Platform/OS: Docker/Linux

I am using docker compose to launch Carla and a Carla ROS Bridge instance, here is my docker compose file:

version: '3.8'

services:

  # Carla server container
  carla:
    image: carlasim/carla:0.9.13
    container_name: carla_server
    runtime: nvidia
    ports:
      - 2000-2002:2000-2002
    command: /bin/bash -c "./CarlaUE4.sh -nosound -carla-server -RenderOffscreen -world-port=2000"

  # Carla ROS bridge container
  bridge:
    build:
      context: ./docker/ros_carla_bridge/
      dockerfile: Dockerfile
    container_name: carla_ros_bridge
    command: ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py host:=carla_server timeout:=5
    runtime: nvidia
    restart: always
    depends_on: 
      carla:
        condition: service_started

And here is my ROS Bridge docker file:

FROM osrf/ros:foxy-desktop-focal AS base

SHELL ["/bin/bash", "-c"]

RUN apt update && apt install -y python3-pip

RUN sudo apt install python3-colcon-common-extensions

RUN mkdir -p ~/carla-ros-bridge
WORKDIR /root/carla-ros-bridge

RUN git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git src/ros-bridge

RUN rosdep update && rosdep install --from-paths src --ignore-src -r

RUN source /opt/ros/foxy/setup.bash && \
    colcon build

COPY ros_entrypoint.sh /

# Ensure script is executable
RUN ["sudo", "chmod", "+x", "/ros_entrypoint.sh"]

ENTRYPOINT ["/ros_entrypoint.sh"]

RUN python3 -m pip install --upgrade pip && python3 -m pip install numpy pygame
RUN python3 -m pip install 'carla==0.9.13'

I found when I run docker-compose up the carla_ros_bridge has trouble connecting to the carla server, the container crashes then restarts and then its able to connect, here is the error:

carla_ros_bridge   | [bridge-1] [ERROR] [1680446255.811228168] [carla_ros_bridge]: Error: time-out of 5000ms while waiting for the simulator, make sure the simulator is ready and connected to carla_server:2000
carla_ros_bridge   | [bridge-1] [INFO] [1680446255.811739344] [carla_ros_bridge]: Shutting down...

Then on the second retry it is able to connect.

I was wondering why it might be failing to connect on the first try, any ideas?

Thanks

Note: I am not sure if this is a Carla issue or a ROS bridge issue, I've also created a issue in Carla for this: https://github.com/carla-simulator/carla/issues/6373