ROS2 Discovery issues

[jon]

Hi, my setup is as follows:

Nvidia jetson orin communicates with VOXL 2 over ethernet onboard drone, drone communicates with GCS via doodle labs radio. All components are properly set up (i.e. I can ping the orin & VOXL2 from the gcs and vice versa).

I have some ros nodes that need the orin compute, so they run external to the VOXL. I can see/echo relevant topic information published on the VOXL (like microdds agent fmu topics) on the orin and GCS. However, I can't see anything published by nodes on the orin, even though it's on the same network as the VOXL, same domain ID, so the topics should be shared via fastdds multicast.

I've messed around with hosting a discovery server on the VOXL and seeing if that would fix the problem, but it doesn't seem to. Maybe I'm doing something wrong though.

I understand if this isnt you guys' area of expertise, but there isn't much documentation relevant to my particular setup, and most people say that it's a DDS middleware issue, but I've verified middleware compatibility and it seems to be capable of multicasting FROM the voxl. Any help / advice would be appreciated.