ros foxy discovery server with wan and tcpv4

edit

I'm trying to setup connection between 2 remotes, using tcpv4 transport:

1 remote: public ip, discovery server, running via ros2 daemon and xml config

2 remote: discovery client, just default talker node with xml configuration

Expected result: I want to see remote 2 talker node topic, in ros2 topic list on 1 remote. I can't find appropriate ros or eprosima fastdds docs (discovery server + tcpv4 + wan).

github issue

By xml configuration i mean FASTRTPS_DEFAULT_PROFILES_FILE env var set to xml file location