Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • binaries
• Version or commit hash:
  • crystal
• DDS implementation:
  • FastRTPS 1.7.0

Steps to reproduce issue

This is linked to this post on ROS Answers.

export ROS_DOMAIN_ID=9999

ros2 run examples_rclcpp_minimal_publisher publisher_lambda

Expected behavior

The ROS_DOMAIN_ID should be used to decide which UDP port has to be opened for a participant.
Due to the limit of UDP ports, admissible values are in the range 0-232.

An error should be raised.

With FastRTPS, the only error related to this occur if the ROS_DOMAIN_ID exceeds the limit of unsigned long which is used in RCL for storing it.

Actual behavior

No error occurs and I'm able to communicate with another machine with the same ROS_DOMAIN_ID .

Trying the same thing with OpenSplice or Connext, a runtime error is raised.