Ros Docker to ROS non docker multiple machines.

edit

Hi, I try to run ROS on different machines: each machine publish and subscribe some topics to/from the other Machine 1: run in the docker and configure as the master I edit .bashrc file

export ROS_MASTER_URI=http://MasterIP:11311
export ROS_IP=MasterIP

I also run roscore in docker and on master machine

Machine 2: I edit .bashrc file

export ROS_MASTER_URI=http://MasterIP:11311
export ROS_IP=machineIP

My testing step: Run roscore in docker on master machine, rosrun the program. on the second machine I run the program (vehiclecontrol_test) but it does not show anything (but I can still see the topics with rostopic list command, When I run topiclist echo /topic nothing showing)

robotest@robotest:~/robo-test/Vu/vtd2ros$ rosrun vtd2ros vehiclecontrol_test

When I try to run vehiclecontrol_test on the same machine with the master, it receives data

robotest@robotest:~/RoboTest/Vu/vtd2ros$ rosrun vtd2ros vehiclecontrol_test
My modifzied Throttle: 0[ INFO] [1622716994.915362905]: Throttle: [0]
[ INFO] [1622716994.916656551]: Steering Angle: [0]
[ INFO] [1622716994.925302807]: Throttle: [0]

.............................................................................................................. Now I try to run simple program outside of docker in Master machine. I receive the correct information in the other machine. Therefore, I can conclude that the problem is because in the master machine I run ROS in docker. I have researched information regarding connection docker with non-docker in ROS( muti machines) I found most suggestion using "--net=host"

  docker run \
  -it \
  -v `dirname  $(pwd)`:/home/apollo_ros_bridge \
  -v `dirname  $(pwd)`/container_root:/root \
  -v /etc/timezone:/etc/timezone:ro \
  -v /etc/localtime:/etc/localtime:ro \
  -e DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -e QT_GRAPHICSSYSTEM=native \
  -e IMAGE_NAME=auroai/apollo_ros_bridge \
  -e TZ=`cat /etc/timezone` \
  --net=host \
  --privileged \
 auroai/apollo_ros_bridge:latest
#   -v ``:/home/cyber_ros_bridge/.bazel

I tried to configure it in both .bashrc (both machines) and in run.sh script of docker but I am still not able to receive anything from docker in another machine.