Firewall when using ros discovery server

[angelobratta]

I tried to use a second docker publishing ros2 topics on the discovery server launched by the framework.

In a conda environment, I was seeing the topics , but I was not able to echo them.
In order to make it work, we had to move the discovery server outside on the wifi network
and disable the firewall on specific ports

Command to be run:

sudo ufw allow 11814/udp # discovery-server port
sudo ufw allow 7400:7500/udp # built-in DDS discovery/data
sudo ufw allow 32768:60999/udp # ephemeral user-data ports
sudo ufw reload

EDIT 11/11/2025: I tried again and did not work. We need to understand what it is happening

[giulioturrisi]

I'm curios to see if this is something related to IIT ICT, or standard. A good test would be test this on a desktop computer and see

[angelobratta]

I leave this issue open because we did not fully investigate the issue.
It is something related to the integration of conda environments and dockers.

It worked when using 3 dockers:

• dls2 to launch the server
• one to run the camera/detection
• one to receive camera topics and run arm planning (instead of a conda environment)