I've seen this page by RTI which might be useful: https://community.rti.com/content/forum-topic/statically-configure-firewall-let-omg-dds-traffic-through It has a spreadsheet for calculating the ports used by RTI Connext (one of the supported ROS 2 middleware implementations) which might also apply to other vendors. I haven't used it myself. Morgan mentioned the domain ID - note that the participant ID that's used in these equations isn't currently exposed/set by ROS 2, but it may be set by vendor-specific config files. --- [Visit Topic](https://discourse.ros.org/t/ros2-behind-a-firewall/1178/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: