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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.

Urban Kenda
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2 Answers2

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You can try to increase the number of MaxAutoParticipantIndex in your config file.

<Discovery>
    <ParticipantIndex>auto</ParticipantIndex>
    <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
</Discovery>
Chun Jye Beh
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  • I experienced the same symptoms as the OP when running ROS2 Galactic with the Husarnet VPN. Setting the MaxAutoParticipantIndex parameter in the cyclonedds.xml file in my home directory resolved the issue. – Geoff S Feb 23 '23 at 00:15
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Enabeling multicast on loopback could solved your problem. Here are some instructions:

route add -net 224.0.0.0 netmask 240.0.0.0 dev lo
ifconfig lo multicast

Multicasting on the loopback device

Andyza
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