Docker: Networking between container and host

I have a container that uses the host network with the option network_mode: host.
Then I created two additional containers and an internal network. Both for itself works, but if I add the first container to the network, it collides with: ERROR: 'network_mode' and 'networks' cannot be combined
When using the option ports:, the container is not accessible from the host network.

What is an easy way got get the container to be a member of internal network and host network without additional routing? I currently use macvlan and that works so far but it requires an additional IP address which is not the main problem but would be better if it could use the main stack.

Here the docker-compose.yml

version: '3.8'

services:
  ros-master:
    image: ros-master:latest
    build:
      context: ./ros-master
    container_name: ros-master-testing
#    network_mode: host
#    ports:
#      - "7400-7500:7400-7500"
    networks:
#      - ros-backend
       ros-backend: {}
       macvlan-network:
         ipv4_address: 192.168.201.116
    devices:
      - /dev/bus/usb:/dev/bus/usb  # full USB passthrough
      - /dev/ttyACM0:/dev/ttyACM0
      - /dev/ttyACM1:/dev/ttyACM1
      - /dev/video0:/dev/video0
      - /dev/video1:/dev/video1
    volumes:
      - ./ros_master_workspace:/workspace
    restart: always
    privileged: true

  ros-slave:
    image: ros-slave:latest
    build:
      context: ./ros-slave
    container_name: ros-slave-testing
#    network_mode: host
    networks:
      - ros-backend
    restart: unless-stopped

  ros-bridge:
    image: ros-bridge:latest
    build:
      context: ./ros-bridge
    container_name: ros-bridge-testing
#    network_mode: host
    networks:
      - ros-backend
    restart: unless-stopped

networks:
  default:
    external:
      name: host
  ros-backend:
    driver: bridge
  macvlan-network:
    driver: macvlan
    driver_opts:
      parent: eth0
    ipam:
      config:
        - subnet: "192.168.201.0/24"
          gateway: "192.168.201.254"
          ip_range: "192.168.201.0/24"

not important I think but btw:
ros-master = humble
ros-bridge = galactic + noetic

my problem now is:
container ros-master works so far, I can see the topics from ros-bridge and the external, over lan, published topics.
ros-bridge cannot see the external topics (which is currently not the problem, but it should see them, since they are on the same network) but also cannot see the topics published by ros-master.