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Hello, for sure connecting 4 clients to 1 agent is possible. Could you open an issue in the micro-ROS Github repo you are using in order to allow us to track this issue?

Maybe this is related to micro-ROS middleware client key that should be different for each micro-ROS client and some embedded platforms do not generate a true randomness here. Please try to set them using this API: https://github.com/micro-ROS/micro-ROS-demos/blob/b2185dfbb65404643d94d6427f477374cf052fad/rclc/configuration_example/configured_publisher/main.c#L44

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