rmw_create_node: failed to create domain, error Error

[edu-rossrobotics]

Operating System:

Docker image for ROS2 humble (arm64v8/ros:humble)

ROS version or commit hash:

Humble

RMW implementation (if applicable):

rmy_cyclonedds_cpp

RMW Configuration (if applicable):

<CycloneDDS>
  <Domain>
    <General>
      <Interfaces>
        <NetworkInterface name="lo"/>
      </Interfaces>
      <AllowMulticast>
        true
      </AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>
        none
      </ParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>
<Gen>
  <Allow>
    spdp
  </Allow>
</Gen>

Client library (if applicable):

rclcpp

'ros2 doctor --report' output

Running the command doesn't produce any output

Steps to reproduce issue

1. Try to run any node

Expected behavior

Node launches successfully and it behaves as expected.

Actual behavior

Node crashes when initializing with the following error:

2025-04-04T07:12:42.299999571Z [ERROR] [1743750762.299514820] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
2025-04-04T07:12:42.300846317Z
2025-04-04T07:12:42.300988185Z >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
2025-04-04T07:12:42.301013369Z This error state is being overwritten:
2025-04-04T07:12:42.301034480Z
2025-04-04T07:12:42.301055850Z   'error not set, at ./src/rcl/node.c:263'
2025-04-04T07:12:42.301076831Z
2025-04-04T07:12:42.301097072Z with this new error message:
2025-04-04T07:12:42.301118756Z
2025-04-04T07:12:42.301138608Z   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
2025-04-04T07:12:42.301159293Z
2025-04-04T07:12:42.301182274Z rcutils_reset_error() should be called after error handling to avoid this.
2025-04-04T07:12:42.301202663Z <<<
2025-04-04T07:12:42.301223421Z [ERROR] [1743750762.299917573] [rcl]: Failed to fini publisher for node: 1

Additional information

I've tried with different network interfaces, and it always produce the same error. Multicast is enabled on the interface and the docker container has access to it (it's using --network=host and --privileged).

[Splinter1984]

Hi @edu-rossrobotics, I tried your setup and encountered the same issue.
It's looks like domain initialization error because of not valid configuration provided. Strip out <Gen>...</Gen> section solve the problem.

[jczhangcx]

I also had a similar problem。

[sloretz]

It looks like this issue is requesting that this error message be more specific:

rmw_cyclonedds/rmw_cyclonedds_cpp/src/rmw_node.cpp

Lines 1250 to 1254 in da06490

	if ((dom.domain_handle = dds_create_domain(did, config.c_str())) < 0) {
	RCUTILS_LOG_ERROR_NAMED(
	"rmw_cyclonedds_cpp",
	"rmw_create_node: failed to create domain, error %s", dds_strretcode(dom.domain_handle));
	gcdds().domains.erase(did);

. It seems that cyclone must be returning DDS_RETCODE_ERROR based on this list https://cyclonedds.io/docs/cyclonedds/0.10.2/api/basics.html

I recommend looking at https://cyclonedds.io/docs/cyclonedds/latest/config/reporting-tracing.html#reporting-and-tracing and seeing if there's a way to get more information about the error out of CycloneDDS.