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The easiest approach will be to setup the two containers to be on the same network segment. There's lots of ways to do this the docker networking documentation is here: https://docs.docker.com/engine/userguide/networking/

You'll likely want to use Docker Compose to automate the multi container launching. I recommend reading the Docker Compose Documenation

Update: @gvdhoorn is right that the new docker behavior is to default to running the containers on the same network.

I verifed I can just run this on one terminal

$ docker run -ti --rm osrf/ros2:ardent-full ros2 run examples_rclcpp_minimal_publisher publisher_member_function
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 4'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 5'
[INFO] [minimal_publisher]: Publishing: 'Hello, world! 6'
...

And in a 2nd terminal:

$ docker run -ti --rm osrf/ros2:ardent-full ros2 run examples_rclpy_minimal_subscriber subscriber_member_function
[INFO] [minimal_subscriber]: I heard: "Hello, world! 34"
[INFO] [minimal_subscriber]: I heard: "Hello, world! 35"
[INFO] [minimal_subscriber]: I heard: "Hello, world! 36"
[INFO] [minimal_subscriber]: I heard: "Hello, world! 37"
...