Hi all,

let's structure this in [Background], [Facts] and [Problem]. Feel free to only read problem.

Background:

• I must use Windows 10 from company
• Docker backend is WSL2
• Development is later deployed to Raspberry Pi
• ROS Noetic Container works fine
• Every application has its own container
• Until now, my network was set to "host" which reportedly not works under Windows
• I want to run rviz which is poorly slow from inside the container like this Guide, so I installed Noetic under Windows

Facts:

• All container are able to communicate without any setup
• Communication from/to Windows is not possible

Problem: now for the really fun thing

• Running roscore on Windows and trying to connect from container does sometimes work: if I specify ROSMASTERURI=http://host.docker.internal:11311/ and ROS_HOSTNAME=host.docker.internal, then start rqt it works. From within the container I can do other things like rostopic and so on...
• Another container, same setup, trying to start my usual app via roslaunch does not work

---

• Launching roscore in container, running rostopic on Windows does nothing at first. Later I changed network from "host" to "bridge" and enable forwarding of port 11311, now being able to do rostopic.
• Being able to see topics, I naively launch rviz on Windows. -> No topic nor translation is received.
• As this is how I intend to proceed: Do I have to forward every port from now on or are there better solutions? Also, it's quite tedious to set up the ROSMASTERURI for all the containers... which only happens since I set network to "bridge" and they got their own IP

Cheers, aur20