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Add set/get domain API configuration #14

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Add set/get domain API configuration #14

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c0cb1b6
Update domain_id selection
Acuadros95 Nov 3, 2021
172eff4
Update
Acuadros95 Nov 3, 2021
0afd350
Conditional headers
Acuadros95 Nov 3, 2021
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10 changes: 9 additions & 1 deletion rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -264,7 +264,14 @@ rcl_node_init(
node->impl->logger_name, "creating logger name failed", goto fail);
#endif // RCL_LOGGING_ENABLED

domain_id = node->impl->options.domain_id;
if (RCL_DEFAULT_DOMAIN_ID != node->impl->options.domain_id) {
domain_id = node->impl->options.domain_id;
} else {
if (RCL_RET_OK != rcl_init_options_get_domain_id(&context->impl->init_options, &domain_id)) {
goto fail;
}
}

if (RCL_DEFAULT_DOMAIN_ID == domain_id) {
if (RCL_RET_OK != rcl_get_default_domain_id(&domain_id)) {
goto fail;
Expand All @@ -273,6 +280,7 @@ rcl_node_init(
if (RMW_DEFAULT_DOMAIN_ID == domain_id) {
domain_id = 0u;
}

RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id);
node->impl->actual_domain_id = domain_id;

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