I recently attempted to make ROS2 on CoreDX talk to ROS2 on FastRTPS. I also attempted to use ROS2 on OpenSplice to talk to ROS2 on FastRTPS. I couldn't get anybody to talk to each other. I followed various guides I found on the internet to achieve supposed compatibility. I even captured some data on the wire, where I discovered that they all use different ports these days. Do we have some rule for utilizing the ROD_DOMAIN_ID and which port that puts you on?
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