Unable to connect to any locator of scouted peer

[mgraoikerlan]

Issue with rmw_zenoh_cpp in Dockerized ROS 2 Humble on Jetson Orin AGX

Description

I am running rmw_zenoh_cpp on a Jetson Orin AGX 32GB Developer Kit with three Docker services:

• A Zenoh router
• A ROS 2 Humble talker
• A ROS 2 Humble listener

Despite the talker and listener being able to discover each other, I am encountering the following error:

2025-01-31T12:05:48.358489Z  WARN net-0 ThreadId(02) zenoh::net::runtime::orchestrator: Unable to connect to any locator of scouted peer 2675ec07ce689802be575ff5916ca463: [tcp/[::1]:35515]
2025-01-31T12:05:48.855385Z  WARN ThreadId(12) zenoh::net::runtime::orchestrator: Scouting delay elapsed before start conditions are met.

Steps to Reproduce

1. Run the provided docker-compose.yml and Dockerfile setup (attached).
2. Observe the logs and error messages.

Expected Behavior

The talker and listener should be able to communicate seamlessly via rmw_zenoh_cpp without connectivity warnings.

Actual Behavior

The warning appears consistently, and it seems that the peers are unable to connect to each other.

Environment

• Device: Jetson Orin AGX 32GB Developer Kit

• OS: Nvidia JetPack 6.0

• ROS 2 Version: Humble

• Zenoh Version: 0.1.0

• Docker Version: 27.3.1

Additional Information

I have attached my Dockerfile and docker-compose.yml below for reproduction, as well as the configuration file for the peers. Any insights into the cause of this issue would be greatly appreciated.

Attached files

zenoh_test.zip

---

[mgraoikerlan]

Changed the configuration to "client" instead of "peer" and now it works.