Hey!

I'm trying to connect to galactic-instances through the internet. I'm currently working with FastRTPS and test with a small server (hosted on strato) and my laptop. I'm following this docu: https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html#discovery-server-v2 Both server and laptop have the discovery server set to

ROS_DISCOVERY_SERVER="85.214.123.45:11811"

and on the server, I run

fastdds discovery -i 0 -l 85.214.123.45 
ros2 run demo_nodes_cpp talker

On my laptop, I run the listener node and on wireshark I see RTPS communication with around 1Hz as soon as I open the listener. So around 95% of the setup looks right, I just don't get the final callback. ROSDOMAINID is 0 for both (also check with debug-log-level). I also tried with the superclientconfiguration_file.xml which leads to a constant RTPS-communication to the server (I assume the daemon) but still no node list or topic list result.

Any ideas? The behavior looks like different ROSDOMAINIDS, so that the messages are recieved, but then ignored by the rmw for some reason.