Jilin Zhou

Yes, it solves the participants discovery problem. If on the same machine, there is no need to set any parameters if I remember correctly.

@KevinYuk : the environment variable ROS_DOMAIN_ID has to be the same on both hosts otherwise the participants cannot see other. Just my guess though! Before launching anything, on host one:...

 I do not think it is related to participant id issue as I came cross before. One way to debug is to build libfastrtps in debug...

Yes. One is running inside a Linux Apollo docker and the other is on a Qnx target.

You have to run baidu ROS on both hosts.