ROS2 + WSL2: Unable to communicate with robot

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I am working with ROS2 foxy on WSL2 Ubuntu 20.04 in Windows 11. I have a robot on the same network with the ROS2 foxy on it. However, I am unable to see the topic list or publish anything to the robot from WSL2. (ROS_DOMAIN_ID was set to 1)

These are the only topics I can see in ROS2:

$ ros2 topic list
/parameter_events
/rosout

Whereas, with ROS1 I can see the topic list and publish to the robot by exporting ROS_MASTER_URI.

I have even tried disabling the firewall on windows, but it is of no use.

Is there any configuration that needs to be done to allow the WSL2 to listen to the incoming traffic from ROS2 nodes?

Any help is appreciated.

Thank you!