Running zenoh-bridge-ros2dds in this scenario works well on my side (Both are Ubuntu). Could you please provide the version (Both bridge and ROS 2) you're using? Now I'm using the latest version built from source code running with ROS 2 Jazzy.

Besides, could you also check the connection availability between the two hosts? There might be some firewall issues blocking the connection. Using Zenoh simple examples is another good way to check.