我开始使用 ROS2（目前处于 alpha7 状态）。为此，我建立了一个小型网络，其中 Raspberry Pi (Raspbian Jessie) 通过 LAN 连接到路由器，主机 PC (Ubuntu Gnome 16.04) 通过 WLAN 连接到同一路由器。主机内部是一些安装了 Debian Jessie 并通过桥接网络 (wlp4s0) 连接的虚拟机（使用 VirtualBox）。我也可以在我的所有机器（Rasp、Host、VM）之间使用ping,ssh和。scp
我发现 Rasp 没有连接到虚拟机，但虚拟机相互联系。所以我可以在虚拟机之间发送消息。但是 Rasp 和 VM 之间的谈话者 - 听众 - 连接不起作用。
谁能给我一些建议来找出这种行为的原因是什么？
我使用来源（alpha7）中的谈话者和听众进行了一些研究。
：（所有ros用户都在虚拟机上）
树莓派上的谈话者
pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
pi:bin$ ./talker
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > yes
> pi:bin$ ./listener__rmw_opensplice_cpp > yes
> pi:bin$ ./listener__rmw_fastrtps_cpp > yes after restarting talker
> pi:bin$ ./listener_best_effort > yes
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> ros@192.168.1.20
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > no
> ros:bin$ ./listener__rmw_opensplice_cpp > no
> ros:bin$ ./listener__rmw_fastrtps_cpp > no
> ros:bin$ ./listener_best_effort > no
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no
pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
pi:bin$ ./talker__rmw_opensplice_cpp
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > yes after restarting talker
> pi:bin$ ./listener__rmw_opensplice_cpp > yes
> pi:bin$ ./listener__rmw_fastrtps_cpp > no
> pi:bin$ ./listener_best_effort > yes
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> ros@192.168.1.20
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > no
> ros:bin$ ./listener__rmw_opensplice_cpp > no
> ros:bin$ ./listener__rmw_fastrtps_cpp > no
> ros:bin$ ./listener_best_effort > no
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no
pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
pi:bin$ ./talker__rmw_fastrtps_cpp
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > yes
> pi:bin$ ./listener__rmw_opensplice_cpp > yes
> pi:bin$ ./listener__rmw_fastrtps_cpp > yes after restarting talker
> pi:bin$ ./listener_best_effort > yes
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> ros@192.168.1.20
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > no
> ros:bin$ ./listener__rmw_opensplice_cpp > no
> ros:bin$ ./listener__rmw_fastrtps_cpp > no
> ros:bin$ ./listener_best_effort > no
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no
虚拟机上的谈话者
ros@192.168.1.20
ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
ros:bin$ ./talker
> ros@192.168.1.21
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > yes
> ros:bin$ ./listener__rmw_opensplice_cpp > yes
> ros:bin$ ./listener__rmw_fastrtps_cpp > yes after restarting talker
> ros:bin$ ./listener_best_effort > yes
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > no
> pi:bin$ ./listener__rmw_opensplice_cpp > no
> pi:bin$ ./listener__rmw_fastrtps_cpp > no
> pi:bin$ ./listener_best_effort > no
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no
ros@192.168.1.20
ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
ros:bin$ ./talker__rmw_opensplice_cpp
> ros@192.168.1.21
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > yes
> ros:bin$ ./listener__rmw_opensplice_cpp > yes
> ros:bin$ ./listener__rmw_fastrtps_cpp > yes
> ros:bin$ ./listener_best_effort > yes
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > no
> pi:bin$ ./listener__rmw_opensplice_cpp > no
> pi:bin$ ./listener__rmw_fastrtps_cpp > no
> pi:bin$ ./listener_best_effort > no
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no
ros@192.168.1.20
ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
ros:bin$ ./talker__rmw_fastrtps_cpp
> ros@192.168.1.20
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > yes after restarting talker
> ros:bin$ ./listener__rmw_opensplice_cpp > yes
> ros:bin$ ./listener__rmw_fastrtps_cpp > yes after restarting talker
> ros:bin$ ./listener_best_effort > yes
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> ros@192.168.1.21
> ros:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> ros:bin$ ./listener > yes
> ros:bin$ ./listener__rmw_opensplice_cpp > yes
> ros:bin$ ./listener__rmw_fastrtps_cpp > yes after restarting talker
> ros:bin$ ./listener_best_effort > yes
> ros:bin$ ./listener_best_effort__rmw_opensplice_cpp > yes
> ros:bin$ ./listener_best_effort__rmw_fastrtps_cpp > yes
> pi@192.168.1.40
> pi:bin$ export OSPL_URI=file:///usr/etc/opensplice/config/ospl.xml
> pi:bin$ ./listener > no
> pi:bin$ ./listener__rmw_opensplice_cpp > no
> pi:bin$ ./listener__rmw_fastrtps_cpp > no
> pi:bin$ ./listener_best_effort > no
> pi:bin$ ./listener_best_effort__rmw_opensplice_cpp > no
> pi:bin$ ./listener_best_effort__rmw_fastrtps_cpp > no