How to pub/sub directly between two STMs ?

[yamati-kz]

I'm trying it, but it doesn't work. I'm happy to receive advice.

pub/sub is working between STM32 NUCLEO-H743ZI2 and ubuntu.　But pub/sub doesn't work directly between STM32 NUCLEO-H743ZI2.
Two STM32 NUCLEO-H743ZI2 are connected to the router with a LAN cable. And the IP address is fixed by the MAC address on the router.　The two STMs have different IP addresses.

[yamati-kz]

It's a test report.
When connecting mros2-host-examples (ubuntu 20.04 Foxy) with STM32, two logs are output to the serial log.
[MROS2LIB] publisher matched with remote subscriber
[MROS2LIB] subscriber matched with remote publisher

However, when trying to pub/sub between STM32s, these two logs do not appear.

--------- When connecting mros2-host-examples (ubuntu 20.04 Foxy) with STM32, two logs are output to the serial log. -------
mbed mros2 start!
app name: echoback_string
[MROS2LIB] mros2_init task start
mROS 2 initialization is completed

[MROS2LIB] create_node
[MROS2LIB] start creating participant
[MROS2LIB] successfully created participant
[MROS2LIB] create_publisher complete.
[MROS2LIB] create_subscription complete.
[MROS2LIB] Initilizing Domain complete
ready to pub/sub message

publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 0'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 1'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 2'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 3'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 4'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 5'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 6'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 7'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 8'
[MROS2LIB] publisher matched with remote subscriber
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 9'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 10'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 11'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 12'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 13'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 14'
subscribed msg: 'Hello, world! 0'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 15'
subscribed msg: 'Hello, world! 1'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 16'
subscribed msg: 'Hello, world! 2'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 17'
subscribed msg: 'Hello, world! 3'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 18'
subscribed msg: 'Hello, world! 4'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 19'
subscribed msg: 'Hello, world! 5'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 20'
subscribed msg: 'Hello, world! 6'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 21'
subscribed msg: 'Hello, world! 7'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 22'
[MROS2LIB] subscriber matched with remote publisher
subscribed msg: 'Hello, world! 8'
publishing msg: 'Hello from mros2-mbed onto NUCLEO_H743ZI2 2nd : 23'

[takasehideki]

@yamati-kz If we want multiple mros2 boards to communicate directly with each other, we need to set BASE_GUID_PREFIX to different values. This may be the same with #39
https://github.com/mROS-base/mros2-mbed/blob/main/include/rtps/config.h#L44

Actually, I have not tried this yet. However, this information was given to me by a cool engineer at eSol who developed the following demo, so I think it is a solid solution. Please try it out!
https://twitter.com/takasehideki/status/1584488359808102402

[yamati-kz]

I tried, but direct communication with multiple mros2 boards was not successful.
The value of BASE_GUID_PREFIX is unchanged for the first board. I set a different value for the second board.　Evaluated with mros2-mbed v0.5.4.

I tried setting it to a value like this.
/mros2-mbed/platform/rtps/config.h
// first board
const GuidPrefix_t BASE_GUID_PREFIX{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12};

// second board
const GuidPrefix_t BASE_GUID_PREFIX{21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32};

[yamati-kz]

I tried Publish directly from mros2-esp32 to mros2-esp-32, and Pub/Sub was successful.
At this time, BASE_GUID_PREFIX has the same value. Evaluated with mros2-esp32 v0.5.3.
I used ESP32-C6-DevKitC-1 and M5Stack Core2 ESP32 IoT Development Kit for AWS IoT Kit
ESP-IDF v5.2.1, M5Unified 0.1.14, M5GFX