DDS-Router Local Discovery Server not working

[adamanasfi]

Working with ROS2.
Following this documentation: https://eprosima-dds-router.readthedocs.io/en/latest/rst/examples/ros_discovery_server_example.html

First terminal: ROS_DOMAIN_ID=0 ros2 run demo_nodes_cpp talker (I see the Hello World with count being logged). I could echo this topic in another terminal.

Second terminal: ROS_DISCOVERY_SERVER=";127.0.0.1:11888" ros2 run demo_nodes_cpp listener

Third terminal: ./install/ddsrouter_tool/bin/ddsrouter --config-path /home/vrl/DDS-Router/install/ddsrouter_tool/share/resources/configurations/examples/ros_discovery_server.yaml
Output:
Starting DDS Router Tool execution.
DDS Router running.

yaml file is as follows (same as documentation):

allowlist:

• name: rt/chatter # 1
  type: std_msgs::msg::dds_::String_ # 1

participants:

• name: SimpleROS2 # 2
  kind: local # 3
  domain: 0 # 4

• name: ServerROS2 # 5
  kind: local-discovery-server # 6
  listening-addresses: # 7

  • domain: localhost # 8
    port: 11888 # 9
    # 10

PROBLEM: Listener is not receiving any messages.

Please note that I am very new to networking and have very limited debugging skills in this area.

[adamanasfi]

Realized I am running a server, when I was actually interested in a client.

[juanlofer-eprosima]

Hi @adamanasfi , I could not reproduce the issue with DDS-Router v3.1.0. I tested the scenario using eprosima/vulcanexus:jazzy-desktop at Docker Hub. It might be a communication issue between different Docker containers if that's the way you are operating.

[JTShuai]

Same here. Did you get any updates?

I tried the change doman example which works well. But this Local Discovery Server doesn't work.

[juanlofer-eprosima]

Hi @JTShuai, as already stated in my previous message we could not reproduce the issue. Could you please provide more information about your specific setup so we can get closer to your scenario? Docker/DDS-Router versions, in which hosts and how (execution order for example) are commands executed, YAML configurations (if different from the ones used in the example), etc.