ros2 node list hangs when a node is on another machine on Windows and ROS_DOMAIN_ID is used

Bug report

Required Info:

• Operating System:
  • Windows 10
• Installation type:
  • binaries
• Version or commit hash:
  • https://ci.ros2.org/view/packaging/job/packaging_windows/2478/
• DDS implementation:
  • default
• Client library (if applicable):
  • N/A

Steps to reproduce issue

On a linux laptop (not sure OS is important), set a ROS_DOMAIN_ID and start turtlesim_node

export ROS_DOMAIN_ID=42
ros2 run turtlesim turtlesim_node

On a Windows machine using the Binary archive, try to list the node

set ROS_DOMAIN_ID=42
ros2 node list

Expected behavior

The windows machine would list the turtlesim node.

Actual behavior

The ros2 node list command hangs forever, and does not respond to CTRL + C.

Additional information

I'm using a Windows VM on Virtual Box on Ubuntu Focal with bridged networking (machine A). The other machine (machine B) is an Ubuntu Bionic running ROS 2 nightly in a Jammy Apptainer container. I'm able to ping the other machine from the windows VM.

Running a Jammy Apptainer container on A, ros2 node list works as expected. It's only the Windows machine that can't list the node.

I could try a Humble workspace on machine B, but it's probably still similar enough.

ros2 node list returns immediately on the Windows VM when no ROS_DOMAIN_ID is set.

Start by reproducing ros2 node list with ROS_DOMAIN_ID=42 on Windows while the remote Linux machine runs turtlesim_node. Compare the Windows behavior with and without ROS_DOMAIN_ID, and with the container on machine A. Done means the Windows command returns promptly and lists the remote node, including responding to Ctrl+C if discovery fails.