the functionality of ros2cli tools are NOT working when using Discovery Server through router.

[hyunseok-yang]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash:
  • all latest version of packages
• DDS implementation:
  • FastDDS (in humble)
• Client library (if applicable):
  • CLI tools

Steps to reproduce issue

I followed the tutorial about the Fast DDS discovery server on ROS Index

I could check discovery server seems working fine since 'hello' message receiving through discovery server.

But I couldn't get topic or node when type the command 'ros2cli'.
Finally I found a one solution from issues #499 after struggling with FastDDS configuration:(.

The problem is these solution works only at same host PC.

All I want is test between two machine which are connected under same router.
I p
repared 192.168.1.69 for A machine and 192.168.1.7 for B machine.

I wrote a configuration file refer to issue #499 and run below step

Terminal 1 @ B

export FASTRTPS_DEFAULT_PROFILES_FILE=daemon_fastdds_config.xml
ros2 daemon stop
ros2 daemon start

Terminal 2 @ B

export ROS_DISCOVERY_SERVER=192.168.1.7:11811
ros2 run demo_nodes_cpp talker

Terminal 1 @ A

export ROS_DISCOVERY_SERVER=192.168.1.7:11811
ros2 run demo_nodes_cpp listener

Expected behavior

I expect hello message is coming from B machine(192.168.1.7) at Terminal 1 of A machine.
And, also expecting get nodes information or topic list.

Actual behavior

But, nothing is printing....

ros2cli also not worked.

Terminal 2 @ A

ros2 node list 

nothing....

Terminal 2 @ A

ros2 topic list

only prints default topics...

/parameter_events
/rosout

Additional information

Anybody have idea? or any experience dealing with discovery server?