Revision history [back]

Not really an answer but a workaround:

I still don't know why it is not working with Fast DDS, however, I found out that using Cyclone DDS instead works.

All I had to do was to install the corresponding RMW in the container and configure it to be used:

apt-get install ros-foxy-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Note that since Galactic Cyclone DDS is the default, so no need to explicitly configure anything there.