[Bug] Unable to work with two bridges on different namespace

[iamkashish]

Describe the bug

If I start one bridge with a namespace "/left" and then the other with namespace "/right", the topics from left to right or vice-versa are created. But the publisher get lost, meaning: ros2 topic echo /right/ doesn't show anything.
But if I use one bridge with a namespace "/left" and then other with no namespace. It works fine.
Maybe there is some silly mistake, but I tried various ways.

To reproduce

1. Start zenoh-bridge-ros2dds --namespace left -e tcp/<left-ip-address>:7447 in one machine.
2. Start zenoh-bridge-ros2dds --namespace right -e tcp/<right-ip-address>:7447 in another machine.
3. Start ros2 run demo_nodes_cpp talker in left machine
4. Do ros2 echo /left/chatter in right machine

System info

• Platform Ubuntu 24.04

[gabrik]

Hi @iamkashish, can you please share the logs of the two bridges when setting RUST_LOG=z=debug as environment variable?

[iamkashish]

Hi @gabrik ,
I did two testing, one with router mode and the logs are left_log and right_log. I saw there is some looping going on (but i have set local host and different domain ids). And when I publish the topic, I publish with cyclonedds config as suggested.

So I tried with peer mode with deny in config file, the config file of left machine will have "^/right.*" in deny and vice-versa. The logs are left_log_2 and right_log_2.

left_log.txt
left_log_2.txt
right_log.txt
right_log_2.txt