From 802c7d2997c67b38155aa9b01124bcfc816abf0e Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Mon, 22 Jun 2020 12:08:12 -0300
Subject: [PATCH] Handle RMW_DEFAULT_DOMAIN_ID. (#427)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rmw_connext_shared_cpp/src/node.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/rmw_connext_shared_cpp/src/node.cpp b/rmw_connext_shared_cpp/src/node.cpp
index 99899179..2567d840 100644
--- a/rmw_connext_shared_cpp/src/node.cpp
+++ b/rmw_connext_shared_cpp/src/node.cpp
@@ -274,8 +274,12 @@ create_node(
     }
   }
 
+  // No custom handling of RMW_DEFAULT_DOMAIN_ID. Simply use a reasonable domain id.
   participant = dpf_->create_participant(
-    static_cast<DDS::DomainId_t>(domain_id), participant_qos, NULL,
+    static_cast<DDS::DomainId_t>(
+      domain_id != RMW_DEFAULT_DOMAIN_ID ? domain_id : 0u),
+    participant_qos,
+    NULL,
     DDS::STATUS_MASK_NONE);
   if (!participant) {
     RMW_SET_ERROR_MSG("failed to create participant");