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Thank you for your advice.

To use UDP unicast communication with ROS2, both client PC and AWS EC2 had to be able to send and receive data using the udp protocol each other. Since this network condition I have asked was client PC communicate AWS EC via NAT, It didn't work UDP unicast communication.

Therefore, I solved this problem by using an OpenVPN network between a Client PC and AWS EC2.

Best regards, Iori