I need you to still explain how you are sending data from the voxl2 to the parent computer - just because they are on the same wifi network doesn't mean that when you launch the ros2 node on the voxl2, and then run a ros2 topic list on your parent computer it will see those topics. There needs to be somewhere on your rpi or parent computer where you are probing the voxl2's ros2 instance whether you have sockets opened up, etc.
Can you confirm that the voxl2 instance of ros2 is locally publishing - aka adb shell into another terminal instance of the voxl2 while the voxl-mpa-to-ros2 is actively running and try doing a ros2 echo TOPIC to see if it streams just fine locally - if it isnt, then that is your issue right there. Which topics are you actively trying to listen to as well? Do you have all the required services running? AKA voxl-imu-server, voxl-qvio-server, voxl-camera-server, etc.
Can you post a screenshot of voxl-inspect-services
Zach