Hi @Zachary-Lowell-0, I work with @Jeffrey-Mao on ROS2 and Voxl2 at the same lab. Thank you for your help on this issue!
This is an update and additional details on the problem:

• We tested 4 different setups:

1. both laptop and voxl2 drone connected to Wifi,
2. both laptop and drone on ethernet,
3. laptop on ethernet and drone on Wifi,
4. drone on ethernet and laptop on Wifi.
   We connect to the drone from the laptop via ssh. The Voxl2 is in station mode.

• For all setups, the laptop and the drone can ping each other.
• We launched a simulation on the drone and published topics. The problem appears when we try to see the messages on the laptop (with ros2 echo). The messages from our topics are not visible, only in configuration 3. However we can echo the /fmu topics. All other configurations are fine.
• We launched a simulation on the laptop and tried to see the topics and messages on the drone. Everything is visible and fine.

Is there a limitation on the number of topics/messages that the drone can send?

Thank you in advance for your insights!