vxlan with ROS2 in local network

I want to experiment with setting up a vxlan in my local network, and see if ROS2 will work ver it.

vxlan

I have two machines. One is at 192.168.0.59, the other at 192.168.0.210. Both are Ubuntu 20.04 installs. Follwing roughly https://programmer.help/blogs/practice-vxlan-under-linux.html, setup a vxlan link between them.

On .59 machine:

sudo su
ip link add vxlan1 type vxlan remote 192.168.0.210 local 192.168.0.59 dev eno1 id 100 dstport 4789
ip a add 10.0.0.1/24 dev vxlan1
ip link set up vxlan1

On .210 machine:

ip link add vxlan1 type vxlan remote 192.168.0.59 local 192.168.0.210 dev eno1 id 100 dstport 4789
ip a add 10.0.0.2/24 dev vxlan1
ip link set up vxlan1

Can I ping? On .59:

root@ubutower:/home/kent# ping 10.0.0.2
PING 10.0.0.2 (10.0.0.2) 56(84) bytes of data.
64 bytes from 10.0.0.2: icmp_seq=1 ttl=64 time=0.632 ms
64 bytes from 10.0.0.2: icmp_seq=2 ttl=64 time=0.609 ms

Yes! How about ROS2? On each setup a DDS config file vxlan1.xml:

<?xml version="1.0" encoding="UTF-8" ?>
  <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>vxlan1</NetworkInterfaceAddress>
        </General>
    </Domain>
  </CycloneDDS>

On .59:

CYCLONEDDS_URI=file://$PWD/vxlan1.xml ros2 run demo_nodes_cpp listener

on .210:

CYCLONEDDS_URI=file://$PWD/vxlan1.xml ros2 run demo_nodes_cpp talker

It works! The next thing that I need to try is through rosbridge. Here is /etc/netplan/rosbridge.yaml

etwork:
  version: 2
  bridges:
    rosbridge:
      addresses: [10.0.0.1/20]
      mtu: 1500
      nameservers:
        addresses: [8.8.8.8, 8.8.4.4]
      parameters:
        stp: false
      dhcp4: false
      dhcp6: false

Configure:

ip a del 10.0.0.1 dev vxlan1
netplan apply
ip link set vxlan1 master rosbridge

On .210 /etc/netplan/rosbridge.yaml:

network:
  version: 2
  bridges:
    rosbridge:
      addresses: [10.0.0.2/20]
      mtu: 1500
      nameservers:
        addresses: [8.8.8.8, 8.8.4.4]
      parameters:
        stp: false
      dhcp4: false
      dhcp6: false

Configure:

ip a del 10.0.0.2/24 dev vxlan1
netplan apply
ip link set vxlan1 master rosbridge
ip link set up vxlan1

I tried a ping, it failed. I suspect the addresses are incorrect. Let me try wireshark. The ping sends an ARP for 10.0.0.2 to rosbridge, which also shows on vxlan1, but no response is ever received.

OK looking at .210, I cannot set rosbridge up. OK, vxlan1 does not have master set correctly. Doing that, I can now ping! Now I just need to understand the LOCAL and REMOTE meanings.