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As I have stated previously, the problem seems to be a bug within ros_comm package. The following merge request from ros_comm github confirmed my suspicion. Reason being that during multiple machine setup, ros_comm c++ client API failed to check whether the socket is connected when asynchronous, which causes the problem manifesting itself in the first place in WSL
https://github.com/ros/ros_comm/pull/1202
In fact the fix had already been developed by bxwllzz in the said merge request. However the merge had never been done to the kinetic branch of the ros_comm package, which resulted in the bug being observed during my setup. Merging the source manually and build it on-site solved the problem.
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