Connection Unstable: Frequent Session Re-establishment on micro-ROS Agent over Public Network

まだ誰も着手していません。

## Description:
I am experiencing issues with the stability of my micro-ROS Agent when connecting over Public Network. Specifically, when connecting the ESP32 running micro-ROS to the Agent over a public network, the session frequently re-establishes, often within 1 second of each previous attempt. However, when the connection is made over a local area network (LAN), it remains stable without any issues. Here are the details:

## Issue template
- Hardware description: esp32
- RTOS: freeRTOS
- Installation type: micro_ros_setup
- Version or commit hash: humble
- Connection Type: UDP over mobile hotspot (also tested over home WiFi)

#### Steps to reproduce the issue
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp6 --port 8090 -v6

#### Expected behavior
[1729343148.590197] info | UDPv6AgentLinux.cpp | init | running... | port: 8090
[1729343148.590364] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[1729343156.017862] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x00000000, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 54 5B 53 B8 81 00 FC 03
[1729343156.018347] info | Root.cpp | create_client | create | client_key: 0x545B53B8, session_id: 0x81
[1729343156.018480] info | SessionManager.hpp | establish_session | session established | client_key: 0x545B53B8, address: 0000:0000:0000:0000:0000:ffff:c0a8:3256:9a1f
[1729343156.018760] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x545B53B8, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1729343156.030584] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x545B53B8, len: 16, data:
0000: 81 00 00 00 0E 01 08 00 0A 00 00 00 D8 11 41 0C
[1729343156.031114] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x545B53B8, len: 32, data:
0000: 81 00 00 00 0F 01 18 00 B4 AE 13 67 33 E5 D5 01 B4 AE 13 67 0E DC D5 01 0A 00 00 00 D8 11 41 0C
[1729343156.038679] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x545B53B8, len: 44, data:
0000: 81 80 00 00 01 07 22 00 00 0A 00 01 01 03 00 00 14 00 00 00 00 01 06 00 0C 00 00 00 59 42 5F 43
0020: 61 72 5F 4E 6F 64 65 00 14 00 00 00
[1729343156.058686] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x545B53B8, participant_id: 0x000(1)
[1729343156.058857] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x545B53B8, len: 14, data:
0000: 81 80 00 00 05 01 06 00 00 0A 00 01 00 00
[1729343156.058898] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x545B53B8, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1729343156.065979] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x545B53B8, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 01 00 00 00 80
[1729343156.070573] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x545B53B8, len: 80, data:
0000: 81 80 01 00 01 07 45 00 00 0B 00 02 02 03 00 00 37 00 00 00 0C 00 00 00 72 74 2F 6F 64 6F 6D 5F
0020: 72 61 77 00 00 01 CD 3F 1F 00 00 00 6E 61 76 5F 6D 73 67 73 3A 3A 6D 73 67 3A 3A 64 64 73 5F 3A
0040: 3A 4F 64 6F 6D 65 74 72 79 5F 00 00 01 00 00 00
#### Actual behavior
[1729346723.687383] info | UDPv6AgentLinux.cpp | init | running... | port: 8090
[1729346723.687553] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 6
[1729346724.673238] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x00000000, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 7E 5C F9 62 81 00 FC 03
[1729346724.673633] info | Root.cpp | create_client | create | client_key: 0x7E5CF962, session_id: 0x81
[1729346724.673767] info | SessionManager.hpp | establish_session | session established | client_key: 0x7E5CF962, address: 0000:0000:0000:0000:0000:ffff:72f6:edbf:bfb8
[1729346724.674175] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x7E5CF962, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1729346725.547183] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x7E5CF962, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 7E 5C F9 62 81 00 FC 03
[1729346725.547423] info | SessionManager.hpp | establish_session | session re-established | client_key: 0x7E5CF962, address: 0000:0000:0000:0000:0000:ffff:72f6:edbf:bfb8
[1729346725.547811] debug | UDPv6AgentLinux.cpp | send_message | [** <> **] | client_key: 0x7E5CF962, len: 19, data:
0000: 81 00 00 00 04 01 0B 00 00 00 58 52 43 45 01 00 01 0F 00
[1729346726.618333] debug | UDPv6AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x7E5CF962, len: 24, data:
0000: 80 00 00 00 00 01 10 00 58 52 43 45 01 00 01 0F 7E 5C F9 62 81 00 FC 03
#### Additional information
Behavior: The session between the ESP32 micro-ROS client and the micro-ROS Agent is frequently re-established (as seen from the micro-ROS Agent logs), sometimes multiple times per second.

Any help or guidance would be appreciated!

まず、提供された Docker コマンドを使って ESP32-to-Agent 接続を再現し、パブリックネットワークと LAN での動作を比較します。UDPv6AgentLinux.cpp と SessionManager.hpp に記録されたエントリポイントを調査し、create および re-establish イベントも確認します。影響を受けたネットワークでセッションが安定している証拠を示しながら、セッション確立が繰り返される原因を特定して対処できれば完了です。

索引モデルが issue の本文から書いたものです。