Question

I am using ros2 galactic on Ubuntu 20.04 and when running more node I get error, whatever I run I get the same error:

1666768083.909628 [0]       ros2: selected interface "lo" is not multicast-capable: disabling multicast
1666768083.909821 [0]       ros2: Failed to find a free participant index for domain 0
[ERROR] [1666768083.909895118] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'error not set, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/node.c:261'

with this new error message:

  'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/node.c:413'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1666768083.909944183] [rcl]: Failed to fini publisher for node: 1
error creating node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-galactic-rcl-3.1.3/src/rcl/node.c:413

I think that it allows me only to run some number of nodes, but I don't find any file to change that. Can someone Help me?

Asked by urban.kenda on 2022-10-31 02:43:02 UTC

Answer 1

I had the same problem. It was related with custom configuratoin of the cyclonedds file. I needed to add a larger number of participants in the cyclonedds configuration file. Have a look to the following and the MaxAutoParticipantIndex parameter:

<CycloneDDS>
  <Domain>
    <General>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <MaxAutoParticipantIndex>1000</MaxAutoParticipantIndex>
    </Discovery>
 </Domain>
</CycloneDDS>

Asked by Pablo Iñigo Blasco on 2023-06-12 04:00:21 UTC

ROS2 galacitc: Failed to find a free participant index for domain

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