rmw_cyclonedds_cpp: No interface bound to requested address '224.0.0.1'

[sloretz]

Looks like some of the tests the "samehost" container fails because no interface is bound to the given multicast address

It looks like all that's required is to set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp, then ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST.

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST ROS_STATIC_PEERS= ros2 run test_discovery publish_once

./test_scenario.bash <path/to/ws> rmw_cyclonedds_cpp

Attaching to iron_irwini_discovery_modes_prototype_samehost_container_1
samehost_container_1  | Same host publisher setting is LOCALHOST, static peers is 10.0.0.2;10.0.0.3
samehost_container_1  | [INFO] [1675970780.699019115] [rcl]: Automatic discovery range is RMW_AUTOMATIC_DISCOVERY_RANGE_OFF (1)
samehost_container_1  | [INFO] [1675970780.699038321] [rcl]: Static peers count is 1
samehost_container_1  | [INFO] [1675970780.699043426] [rcl]: 	10.0.0.2
samehost_container_1  | [INFO] [1675970780.699886841] [rmw_cyclonedds_cpp]: Config XML is <CycloneDDS><Domain><General><AllowMulticast>asm,ssm</AllowMulticast></General><Discovery><Peers><Peer address="10.0.0.2"/></Peers></Discovery></Domain></CycloneDDS>,
samehost_container_1  | [INFO] [1675970780.893820534] [rcl]: Automatic discovery range is RMW_AUTOMATIC_DISCOVERY_RANGE_LOCALHOST 
samehost_container_1  | [INFO] [1675970780.893839339] [rcl]: Static peers count is 2
samehost_container_1  | [INFO] [1675970780.893863233] [rcl]: 	10.0.0.2
samehost_container_1  | [INFO] [1675970780.893867414] [rcl]: 	10.0.0.3
samehost_container_1  | [INFO] [1675970780.894581896] [rmw_cyclonedds_cpp]: Config XML is <CycloneDDS><Domain><General><AllowMulticast>true</AllowMulticast><MulticastRecvNetworkInterfaceAddresses>224.0.0.1</MulticastRecvNetworkInterfaceAddresses></General><Discovery><Peers><Peer address="10.0.0.2"/><Peer address="10.0.0.3"/></Peers></Discovery></Domain></CycloneDDS>,
samehost_container_1  | 1675970780.895466 [0]       ros2: No interface bound to requested address '224.0.0.1'
samehost_container_1  | [ERROR] [1675970780.895508752] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error
samehost_container_1  | 
samehost_container_1  | >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
samehost_container_1  | This error state is being overwritten:
samehost_container_1  | 
samehost_container_1  |   'error not set, at /home/sloretz/ws/ddsoobe/src/ros2/rcl/rcl/src/rcl/node.c:263'
samehost_container_1  | 
samehost_container_1  | with this new error message:
samehost_container_1  | 
samehost_container_1  |   'rcl node's rmw handle is invalid, at /home/sloretz/ws/ddsoobe/src/ros2/rcl/rcl/src/rcl/node.c:415'
samehost_container_1  | 
samehost_container_1  | rcutils_reset_error() should be called after error handling to avoid this.
samehost_container_1  | <<<
samehost_container_1  | [ERROR] [1675970780.895607734] [rcl]: Failed to fini publisher for node: 1
samehost_container_1  | error creating node: rcl node's rmw handle is invalid, at /home/sloretz/ws/ddsoobe/src/ros2/rcl/rcl/src/rcl/node.c:415
iron_irwini_discovery_modes_prototype_samehost_container_1 exited with code 1

Seems like the xml address is specified in the config file

<CycloneDDS>
  <Domain>
    <General>
      <AllowMulticast>true</AllowMulticast>
      <MulticastRecvNetworkInterfaceAddresses>224.0.0.1</MulticastRecvNetworkInterfaceAddresses>
    </General>
    <Discovery>
      <Peers>
        <Peer address="10.0.0.2"/>
        <Peer address="10.0.0.3"/>
      </Peers>
    </Discovery>
  </Domain>
</CycloneDDS>

Reproduce with node from ros2/system_tests#512