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Fix domain bug in rmw_init (backport #335) #339

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Fix domain bug in rmw_init (backport #335) #339

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8 changes: 6 additions & 2 deletions rmw_microxrcedds_c/src/rmw_init.c
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ rmw_init_options_init(
init_options->implementation_identifier = eprosima_microxrcedds_identifier;
init_options->allocator = allocator;
init_options->enclave = NULL;
init_options->domain_id = 0;
init_options->domain_id = RMW_DEFAULT_DOMAIN_ID;
init_options->security_options = rmw_get_default_security_options();

// This can be call before rmw_init()
Expand Down Expand Up @@ -216,7 +216,8 @@ rmw_init(
RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
context->instance_id = options->instance_id;
context->implementation_identifier = eprosima_microxrcedds_identifier;
context->actual_domain_id = options->domain_id;
context->actual_domain_id =
(RMW_DEFAULT_DOMAIN_ID == options->domain_id) ? 0u : options->domain_id;

#ifdef UCLIENT_PROFILE_MULTITHREAD
if (!rmw_uxrce_wait_mutex_initialized) {
Expand Down Expand Up @@ -377,6 +378,9 @@ rmw_context_fini(
{
rmw_ret_t ret = RMW_RET_OK;

// Safety net against leaks if the app shuts down without destroying its nodes
// Nodes destroyed here make a later rcl_node_fini() return RMW_RET_ERROR, this
// is normally triggered by rclc_support_fini() -> rcl_shutdown() -> rmw_shutdown()
rmw_uxrce_mempool_item_t * item = node_memory.allocateditems;

while (item != NULL) {
Expand Down
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