Cannot get messages when communicating crossing different machines and docker containers via multicast by defining Peers

Bug report

Required Info:

Operating System:
- Ubuntu 22.04.3 amd64
Installation type:
- binaries
Version or commit hash:
- 1.3.4
DDS implementation:
- CycloneDDS
Client library (if applicable):
- rmw_cyclonedds_cpp

Steps to reproduce issue

My setup as shown below:

You can reproduce it from here

version: "3"
networks:
  ros-network:
    external: false
    driver: "bridge"
    ipam:
      config:
        - subnet: "172.18.0.0/24"
          ip_range: "172.18.0.64/26"
          gateway: "172.18.0.1"

services:

  talker:
    image: communication_test_nodes_humble:user
    build:
      context: .
      dockerfile: Dockerfile_USER
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/communication_test_nodes_humble:latest
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.3
    ports:
      - "7312:7412/udp"
      - "7313:7413/udp"
    environment:
      - NETINTERFACE=eth0
      - ROS_DOMAIN_ID=0
      - ROS_SECURITY_ENABLE=false
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=/cyclonedds.xml
    user: 1000:1000
    volumes:
      - ./cyclonedds_talker.xml:/cyclonedds.xml
      - ./talker.log:/home/${USER}/talker.log
    stdin_open: true
    tty: true
    command:
      - bash
      - -c
      - |
        ros2 run demo_nodes_cpp talker

  listener:
    image: communication_test_nodes_humble:user
    build:
      context: .
      dockerfile: Dockerfile_USER
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/communication_test_nodes_humble:latest
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.4
    ports:
      - "7314:7414/udp"
      - "7315:7415/udp"
    environment:
      - NETINTERFACE=eth0
      - ROS_DOMAIN_ID=0
      - ROS_SECURITY_ENABLE=false
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=/cyclonedds.xml
    user: 1000:1000
    volumes:
      - ./cyclonedds_listener.xml:/cyclonedds.xml
      - ./listener.log:/home/${USER}/listener.log
    stdin_open: true
    tty: true
    command:
      - bash
      - -c
      - |
        ros2 run demo_nodes_cpp listener

Talker in docker container use cyclonedds_talker.xml

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">

  <Domain id="any">
      <!-- default setting -->
      <General>
          <Interfaces>
              <NetworkInterface name="${NETINTERFACE}"/>
          </Interfaces>
          <AllowMulticast>false</AllowMulticast>
          <Transport>udp</Transport>
      </General>
      <Discovery>
          <Peers>
              <Peer address="talker"/>
              <Peer address="listener"/>
              <Peer address="192.168.0.213"/>
          </Peers>
          <ParticipantIndex>1</ParticipantIndex>
      </Discovery>
      <Tracing>
          <Verbosity>fine</Verbosity>
          <OutputFile>talker.log</OutputFile>
      </Tracing>
  </Domain>
</CycloneDDS>

Listener in docker container use cyclonedds_listener.xml


<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">

<Domain id="any">
    <!-- default setting -->
    <General>
        <Interfaces>
            <NetworkInterface name="${NETINTERFACE}"/>
        </Interfaces>
        <AllowMulticast>false</AllowMulticast>
        <Transport>udp</Transport>
    </General>
    <Discovery>
        <Peers>
            <Peer address="talker"/>
            <Peer address="listener"/>
            <Peer address="192.168.0.213"/>
        </Peers>
        <ParticipantIndex>2</ParticipantIndex>
    </Discovery>
    <Tracing>
        <Verbosity>fine</Verbosity>
        <OutputFile>listener.log</OutputFile>
    </Tracing>
</Domain>
</CycloneDDS>

Other laptop usecyclonedds_machine2.xml

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">

  <Domain id="any">
      <!-- default setting -->
      <General>
          <Interfaces>
              <NetworkInterface name="wlan0"/>
          </Interfaces>
          <AllowMulticast>false</AllowMulticast>
          <Transport>udp</Transport>
      </General>
      <Discovery>
          <Peers>
              <Peer address="192.168.0.108:7314"/>
              <Peer address="192.168.0.108:7312"/>
              <Peer address="192.168.0.213"/>
          </Peers>
          <ParticipantIndex>1</ParticipantIndex>
      </Discovery>
      <Tracing>
          <Verbosity>fine</Verbosity>
          <OutputFile>machine2.log</OutputFile>
      </Tracing>
  </Domain>
</CycloneDDS>

Run command ros2 run demo_nodes_cpp talker
Expected behavior

The listener running docker container should get messages from machine2_talker running on the other laptop

Actual behavior

In the log from machine2_talker running on the other laptop, it seems to find the route to communicate with nodes running in containers but got this error

1700260008.210406 [0] dq.builtin: ddsi_rebuild_writer_addrset(110af39:53bfa8dc:f76ce963:301c3): udp/172.18.0.3:7412@3 udp/172.18.0.4:7414@3 (burst size 4294901760 rexmit 283990)
1700260008.210428 [0] dq.builtin: directed SPDP packet -> not responding

In the log from listener running in a container, it wanted to answer

1700260008.217474 [0] dq.builtin: ddsi_rebuild_writer_addrset(110af78:b971ef08:4d53c42b:301c3): udp/172.18.0.3:7412@549 udp/192.168.0.213:7412@549 (burst size 4294901760 rexmit 283990)
1700260008.217612 [0] dq.builtin: broadcasted SPDP packet -> answering

You can full logs: listener_labeled.log, talker_labeled.log, machine2.log

Additional information

When I run netstat -tuln in the container where listener runs, I see there are also some other ports are open such as 54053, 42153, 46557. Are they used by DDS?

$ netstat -tuln
Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State      
tcp        0      0 127.0.0.11:46557        0.0.0.0:*               LISTEN     
udp        0      0 172.18.0.4:54053        0.0.0.0:*                          
udp        0      0 0.0.0.0:7414            0.0.0.0:*                          
udp        0      0 0.0.0.0:7415            0.0.0.0:*                          
udp        0      0 127.0.0.11:42153        0.0.0.0:*

The result from the container where talker runs

netstat -tuln
Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State      
tcp        0      0 127.0.0.11:37417        0.0.0.0:*               LISTEN     
udp        0      0 172.18.0.3:42856        0.0.0.0:*                          
udp        0      0 0.0.0.0:7412            0.0.0.0:*                          
udp        0      0 0.0.0.0:7413            0.0.0.0:*                          
udp        0      0 127.0.0.11:33721        0.0.0.0:*

Thank you for your help!

ros2 / rmw_cyclonedds