How to run ROS across docker containers?

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How to run ROS in docker?

My ROS2 install doesn't allow to run hello world listener-talker example on my laptop.

To build-from-source and install ROS2, I followed instructions from https://docs.ros.org/en/rolling/Insta... in a Dockerfile (as I do not run ubuntu). I have sourced /home/ros2_rolling/install/local_setup.bash. Following https://docs.ros.org/en/foxy/How-To-G... does not help (on my laptop, before running docker run, I typed sudo ufw allow in proto udp to\from 224.0.0.0/4 and checked that MULTICAST appears on sudo ifconfig docker0) : ros2 multicast receive / send doesn't work neither.

I've just tried with docker image osrf/ros2:nightly: I get the exact same problems (I have sourced /opt/ros/rolling/setup.bash).

What did I miss? What can I check/do to fix this problem? Could the firewall of my laptop be a problem: I guess no as everything should run inside docker (talker and listener are 2 containers in the same docker engine on my laptop). What could be wrong?

UPDATE

@achille: This works in the same container:

>> sudo docker run -it --rm osrf/ros:humble-desktop /bin/bash
root@ac235f33d39b:/# ros2 run demo_nodes_cpp listener & ros2 run demo_nodes_cpp talker
[2] 84
[INFO] [1674941340.675642006] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674941340.676876651] [listener]: I heard: [Hello World: 1]
[INFO] [1674941340.677048550] [listener]: I heard: [Hello World: 1]
[INFO] [1674941341.675633255] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674941341.676649526] [listener]: I heard: [Hello World: 2]
[INFO] [1674941341.676698121] [listener]: I heard: [Hello World: 2]
^C[INFO] [1674941342.516515910] [rclcpp]: signal_handler(signum=2)

But not in separate containers:

>> sudo docker run -it --rm osrf/ros:humble-desktop /bin/bash
root@914ba7f89cbb:/# ros2 run demo_nodes_cpp listener
>> sudo docker run -it --rm osrf/ros:humble-desktop /bin/bash
root@4fbc129d1650:/# ros2 run demo_nodes_cpp talker
[INFO] [1674940961.401879066] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674940962.401838015] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674940963.401874882] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674940964.401859533] [talker]: Publishing: 'Hello World: 4'
^C[INFO] [1674940964.857425780] [rclcpp]: signal_handler(signum=2)

root@4fbc129d1650:/# ros2 multicast send
Sending one UDP multicast datagram...
root@914ba7f89cbb:/# ros2 multicast receive
Waiting for UDP multicast datagram...

What's wrong?

UPDATE

@achille: using --network host doesn't help: I get the exact same result. Pretty surprised, years ago when I gave a try to ROS I do not remember I needed to play with network for listener-talker example. Looks like same question to me: hello-world listener-talker doesn't work in docker.

UPDATE

@GeorgNo: doesn't seem to help?!... Could the problem be related to iptables?... No idea why this is not working...

On a first terminal on my laptop:

>> sudo docker pull osrf/ros:humble-desktop
>> sudo docker run -it --rm --network host --env="RMW_IMPLEMENTATION=rmw_fastrtps_cpp" osrf/ros:humble-desktop ros2 run demo_nodes_cpp listener
^C[INFO] [1675116216.183522599] [rclcpp]: signal_handler(signum=2)

On a second terminal on the same laptop (no LAN):

>> sudo docker run -it --rm --network ...