Handle RMW_DEFAULT_DOMAIN_ID. (#427) (#430)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Jun 24, 2020 · cca5946 · cca5946
1 parent c90e775
commit cca5946
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/rmw_connext_shared_cpp/src/node.cpp b/rmw_connext_shared_cpp/src/node.cpp
@@ -274,8 +274,12 @@ create_node(
     }
   }
 
+  // No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
   participant = dpf_->create_participant(
-    static_cast<DDS::DomainId_t>(domain_id), participant_qos, NULL,
+    static_cast<DDS::DomainId_t>(
+      domain_id != RMW_DEFAULT_DOMAIN_ID ? domain_id : 0u),
+    participant_qos,
+    NULL,
     DDS::STATUS_MASK_NONE);
   if (!participant) {
     RMW_SET_ERROR_MSG("failed to create participant");