[Bug] the plugin sometimes does not discover ROS2 Node

[boyu-hang]

Describe the bug

Hi! The bug was quite similar to this. We just switched from zenoh-plugin-dds to zenoh-plugin-ros2dds to bridge ROS 2 messages. This time ROS distribution Humble is used and CycloneDDS as RMW_IMPLEMENTATION. However, the issue persists as the one occurred in this. One bridge is randomly unable to discover ROS node which are set up within the same virtual network.

What's more, even if switching back to zenoh-plugin-dds, using humble and CycloneDDS, the issue still persists. I think the issue had never been resolved:(

To reproduce

Docker Compose file:

services:
  talker:
    image: osrf/ros:humble-desktop
    command:
      - /bin/sh
      - -c
      - |
        apt update
        apt install -y ros-iron-rmw-cyclonedds-cpp
        ros2 run demo_nodes_cpp talker
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    networks:
      - rosnet-1
  listener:
    image: osrf/ros:humble-desktop
    command:
      - /bin/sh
      - -c
      - |
        apt update
        apt install -y ros-iron-rmw-cyclonedds-cpp
        ros2 run demo_nodes_cpp listener
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    depends_on:
      - talker
    networks:
      - rosnet-2
  zenoh-router:
    image: eclipse/zenoh
    ports:
      - 7447:7447
      - 8000:8000
    networks:
      - protocolnet-1
      - protocolnet-2
  zenoh-bridge-dds-1:
    image: eclipse/zenoh-bridge-ros2dds::latest
    command: -m client -e tcp/zenoh-router:7447
    networks:
      - rosnet-1
      - protocolnet-1
    environment:
      - ROS_DISTRO=humble
    depends_on:
      - zenoh-router
  zenoh-bridge-dds-2:
    image: eclipse/zenoh-bridge-dds
    command: -m client -e tcp/zenoh-router:7447
    environment:
      - ROS_DISTRO=humble
    networks:
      - rosnet-2
      - protocolnet-2
    depends_on:
      - zenoh-router

networks:
  rosnet-1:
  rosnet-2:
  protocolnet-1:
  protocolnet-2:

System info

Platform: Ubuntu 20.04 64-bit
Zenoh: 0.10.0-rc
ROS2: humble
Docker: Docker Engine - Community(version 24.0.5 )