[Bug] Unable to Receive Messages on Subscriber Node via Zenoh Router deployed in Cloud

[Jianqiao94]

Describe the bug

I am experiencing an issue where I cannot receive messages on a listener node across a Zenoh router deployed on a cloud server. The setup involves two devices running ROS2 Humble and zenoh-bridge-ros2dds. The issue is that, while the topic /talker/chatter is correctly discovered on the listener node (ros2 topic list shows the topic), ros2 topic echo /talker/chatter does not display any messages.

To reproduce

1. Set up the zenoh router on cloud server with public IP.
   ./zenohd --listen tcp/0.0.0.0:7447 --config <router_config.json5>
   I use default configuration, just set mode to router.

2. Talker/listener node configuration

• Install ROS2 Humble and zenoh-bridge-ros2dds.
• Configure file something like:
  {
  "plugins": {
  "ros2dds": {
  "namespace": "/talker",
  "domain": 0,
  "ros_localhost_only": false,
  "deny": {
  "publishers": ["./rosout", "./parameter."],
  "subscribers": ["./rosout", "./parameter."]
  }
  }
  },
  "connect": {
  "endpoints": [
  "tcp/<public_ip_of_router>:7447"
  ]
  }
  }

3. Start zenoh router, zenoh bridge and talker/listener node
4. On the listener node, the log says something like
   "2024-11-28T20:44:29.966517Z INFO main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/192.168.8.163:36167
   2024-11-28T20:44:30.035564Z INFO tokio-runtime-worker ThreadId(18) zenoh_plugin_ros2dds: Remote bridge announces Publisher talker/chatter
   2024-11-28T20:44:30.036093Z INFO tokio-runtime-worker ThreadId(18) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:listener/talker/chatter -> ROS:/talker/chatter) created'
   So I think the topic is indeed discovered but I cannot view it or echo it.

System info

Ubuntu 22.04, ROS2 humble.