|
||
I've been playing around with launching lots of nodes in the ROS2 alpha7 infrastructure. After snooping around in the opensplice docs and google searching the issue, I think I'm running out of Participant IDs. After reading up on the Alpha8 release notes, the Opensplice portion of this issue isn't as relevant, but maybe FastRTPS will suffer from the same issue? Is there a design methodology for supporting more than 10 nodes in a subsystem that skirts the Participant Id issue? Or is there a way to increase the available Participant Ids to allow more than 10? Has anyone else encountered this issue, or have recommendations? Thanks. |
Visit Topic or reply to this email to respond.
To unsubscribe from these emails, click here.
|
||
It should be possible to have many more than 10 nodes. I'd assume this is a bug in our code. I'll try to reproduce it when I get a chance. |
|
||
The error I get is on the DDS layer. It is:
For your reference, I looked at this Vortex documentation: specifically these sections appeared to me to be the cause of the failure:
The crazy thing is that if I try to add these fields into the ros_ospl.xml file, DDS can't recognize them and fails. |
|
||
I was aware of the 120 participants per machine per domain limit, I'm not sure why it's starting out at 9. Again I'll try to reproduce it and try changing the configs when I have time. |
|
||
![]() |
|
After playing with this some more, changing the ParticipantIndex tag in the ros_ospl.xml file actually works, and setting it to 'none' allows 10+ nodes to launch successfully. Of course, you loose unicast discovery, but this is at least a temporary workaround. |
|
||
Cool, sounds like a workaround for now. I probably won't pursue it further since we're going to be moving away from OpenSplice, but if you think it makes sense to change this open a pr. Or you could add a wiki page which describes how to change this setting. |