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But if I opt for a default docker bridge network, the ros_master_uri is messed up. For easy access, "host" option seems the best, but it does not work well as you cannot use a ros master container. What is the correct way to configure such application?

If you have containerized ros nodes that need to connect to other nodes outside the host machine, then provisioning your host's containers with the host network driver is perhaps the simplest method. Additionally, provisioning a container with the host network driver does not prevent you from running ros master from inside that same container. Infact, such may be necessary for other nodes outside the host machine to register themselves in the ros graph, that is if you'd rather not host the ros master process directly on the host OS or other machine on the accessible network.

See this previous answer for more details:
https://answers.ros.org/question/291568/docker-and-ros/