make it possible to connect to ROS2 system on other devices or even current host

[haitomatic]

Currently the ROS2 system in the ros2env container is kinda isolated. It cant connect with other nodes running on host or other devices.
I was trying to get it work with:
export ROS_DOMAIN_ID=1
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET

But it seems that with bridge network, it's quite complicated to have all the ports mapped. Can you suggest a good way to do this or I have to modify the docker cmd to use network=host?
Thanks