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It looks like multicast support has been a long open issue for docker:

https://github.com/moby/libnetwork/issues/552
https://stackoverflow.com/questions/51737969/how-to-support-multicast-network-in-docker

As suggested in one of the stackoverflow answers, If you need multicast support, you could use the host network driver, as ROS2/DDS is capable of running multiple nodes/participants per host/container and could share the network interface. If the docker host's aren't on the same subnet then that would be a separate issue for DDS discovery and NAT translation over a LANs that still supports multicast. In any case, I'd also recommend enabling SROS2 if the hosts are operating over an unsecure network.

Related:
https://answers.ros.org/question/358461/docker-composeswarm-for-multiple-remote-ros-containers/?answer=359368#post-id-359368