Cyclonedds: Can see topic when using ros2 topic list, but only can echo some of the topics over the wireless network

Question

I have two PC in my setup. PC A [ROS Foxy] is connected to the router via Ethernet while PC B [ROS Humble] is connected to the router via WIFI.

When I run ros2 topic list on PC B, I can see all the topics from PC A however no all the topic can be echo with command ros2 topic echo. For example I had IMU and 3D LiDAR running on PC A but I can only ros2 topic echo /imu/data on PC B. If I connect the PC B to the router via Ethernet and change the interface in cycloneDDS.xml then I can echo the /points topic on PC B.

I found the following link saying about the issue was linked to the size of the message but I wrote a simple node to subscribe the topic and the callback is not triggered as well. Link: Can see topic when using ros2 topic list, but can't echo it over the network?

Some people said it might due to different DDS middleware running on both PC but I have double checked the DDS implementation on both PC and both are running cycloneDDS. Link: Can see topic when using ros2 topic list, but can't echo it over the network?

---- Update ---- And yes the CYCLONEDDS_URI has been set correctly.

PC_A

PC_A@ubuntu:~$ cat cyclonedds_config.xml
<?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 Id="any">
        <General>
            <DontRoute>false</DontRoute>
            <AllowMulticast>spdp</AllowMulticast>
            <NetworkInterfaceAddress>eth0</NetworkInterfaceAddress>
        </General>
        <Discovery>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
            <Peers>
                <Peer address="10.252.252.151"/>
            </Peers>
        </Discovery>
        <Internal>
            <MinimumSocketReceiveBufferSize>10MB</MinimumSocketReceiveBufferSize>
        </Internal>
        <Tracing>
            <Verbosity>config</Verbosity>
            <OutputFile>stdout</OutputFile>
        </Tracing>
    </Domain>
</CycloneDDS>

PC_B

PC_B@ubuntu:~$ cat cyclonedds_config.xml
<?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 Id="any">
        <General>
            <Interfaces>
                <NetworkInterface name="wlp0s20f3" multicast="true" />
            </Interfaces>
            <AllowMulticast>true</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Discovery>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
            <Peers>
                <Peer Address="10.252.252.100"/>
            </Peers>
        </Discovery>
        <Internal>
            <SocketReceiveBufferSize min="10MB"/>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
        <Tracing>
            <Verbosity>config</Verbosity>
            <OutputFile>stdout</OutputFile>
        </Tracing>
    </Domain>
</CycloneDDS>

Answer 1

As I cannot comment, I'll post it as an answer. I just want to suggest trying to set <Domain Id="any"> to, for example, <Domain Id="1"> for both of them, as this is, as far as I understand, how the ROS_MASTER setup is done in ROS2. Let me know if this does anything.