All the machines that will be talking to each other must satisfy two constraints. First, they must all be within the same multicast domain on your network. This is a network setup issue and not strictly a ROS thing. If you don't know how to do that, an alternative is to define the unicast addresses of all the computers that need to communicate with each other in an XML file placed in the directory from which you run the "ros2" command.
Secondly, then they must have the same ROS_DOMAIN_ID. The ROS_DOMAIN_ID is used to segment the network multicast domain into smaller communities that are allowed to talk to each other.
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