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With help of my friend I get it to work, I will try to describe changes with steps:

• I don't need to use any route add - I deleted every added route with sudo route del ...

• Wired connection on the TB2 with Hokuyo LiDAR - settings: IP 192.168.0.15 with netmask 255.255.255.0 without gateway

• For the working DDS I had to use this setup guide, with preparation of XML settings file called cyclonedds.xml:

<cyclonedds xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemalocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd"> <domain id="any"> <general> <networkinterfaceaddress>wifi0</networkinterfaceaddress> </general> </domain> </cyclonedds>

and then put export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml in the ~/.bashrc

I could then launch my nodes on the TB2 with plugged-in Hokuyo, with ROS2 topics visible on the other PC.

With help of my friend I get it to work, I will try to describe changes with steps:

• I don't need to use any route add - I deleted every added route with sudo route del ...

• Wired connection on the TB2 with Hokuyo LiDAR - settings: IP 192.168.0.15 with netmask 255.255.255.0 without gateway

• For the working DDS I had to use this setup guide, with preparation of XML settings file called cyclonedds.xml:

(I changed wifi0 to wlp58s0, check it with ifconfig for your case):

<cyclonedds xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemalocation="https://cdds.io/config xsi:schemalocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd"> <domain id="any"> <general> <networkinterfaceaddress>wifi0</networkinterfaceaddress> </general> </domain> </cyclonedds>

and then put export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml in the ~/.bashrc

I could then launch my nodes on the TB2 with plugged-in Hokuyo, with ROS2 topics visible on the other PC.

With help of my friend I get it to work, I will try to describe changes with steps:

• I don't need to use any route add - I deleted every added route with sudo route del ...

• Wired connection on the TB2 with Hokuyo LiDAR - settings: IP 192.168.0.15 with netmask 255.255.255.0 without gateway

• For the working DDS I had to use this setup guide, with preparation of XML settings file called cyclonedds.xml (I changed wifi0 to wlp58s0, check it with ifconfig for your case):

  <cyclonedds xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemalocation="https://cdds.io/config

  <?xml version="1.0" encoding="UTF-8"?>  
  <CycloneDDS xmlns="https://cdds.io/config"
  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
  xsi:schemaLocation="https://cdds.io/config
  https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
      <domain <Domain id="any">
          <general>
              <networkinterfaceaddress>wifi0</networkinterfaceaddress>
          </general>
      </domain>  </cyclonedds>
  <General>
              <NetworkInterfaceAddress>wifi0</NetworkInterfaceAddress>
          </General>
      </Domain>  
  </CycloneDDS>
  

(XML isn't showing nice in this editor, so there is the picture too)

and then put export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml in the ~/.bashrc

I could then launch my nodes on the TB2 with plugged-in Hokuyo, with ROS2 topics visible on the other PC.