iRobot Create3 ROS2/WSL networking

[halBRY]

Through the magic of network discovery, ROS2 should be able to subscribe to topics being published by nodes on a different machine so long as they share a network. Somewhere along the way from the Create3 to Discovery's WSL ROS2 installation, this network discovery is not happening.

We have tested the following:

• Placing the Create3 and Discovery on their own wifi network (using the GL.inet mini router)
• Using the default configurations for both of the supported middleware systems on the Create3 (fast-dds and cyclone-dds).
• Setting up a fast-dds discovery server on Discovery in WSL (using either Discovery's IP address or WSL's IP address)
• Configuring Discovery WSL as a Super Client (as explained here)

Yet, none of the above has succeeded in producing the expected behavior, where running the ros2 topic list command prints a list of topics being published by the Create3.

[mvictoras]

Are you on the router network or on the UIC network?