[spawner-4] 1711179124.828589 [11] spawner: Failed to find a free participant index for domain 11 [spawner-4] [ERROR 1711179124.828678668] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error (./src/rmw_node.cpp:1078)

[Geonhee-LEE]

ros2 launch jackal_control control.launch.py 실행시 에러 발생

[imu_filter_madgwick_node-2] [INFO 1711179124.439542693] [imu_filter_node]: Starting ImuFilter (./src/imu_filter_ros.cpp:42)
[imu_filter_madgwick_node-2] [INFO 1711179124.440214992] [imu_filter_node]: Using dt computed from message headers (./src/imu_filter_ros.cpp:113)
[imu_filter_madgwick_node-2] [INFO 1711179124.440241281] [imu_filter_node]: The gravity vector is kept in the IMU message. (./src/imu_filter_ros.cpp:125)
[imu_filter_madgwick_node-2] [INFO 1711179124.440795187] [imu_filter_node]: Imu filter gain set to 0.100000 (./src/imu_filter_ros.cpp:167)
[imu_filter_madgwick_node-2] [INFO 1711179124.440821015] [imu_filter_node]: Gyro drift bias set to 0.000000 (./src/imu_filter_ros.cpp:168)
[imu_filter_madgwick_node-2] [INFO 1711179124.440829842] [imu_filter_node]: Magnetometer bias values: 0.000000 0.000000 0.000000 (./src/imu_filter_ros.cpp:173)
[imu_filter_madgwick_node-2] [INFO 1711179124.445764487] [imu_filter_node]: First IMU message received. (./src/imu_filter_ros.cpp:251)
[spawner-4] 1711179124.828252 [11]    spawner: selected interface "lo" is not multicast-capable: disabling multicast
[spawner-4] 1711179124.828589 [11]    spawner: Failed to find a free participant index for domain 11
[spawner-4] [ERROR 1711179124.828678668] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error (./src/rmw_node.cpp:1078)
[spawner-4] 
[spawner-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-4] This error state is being overwritten:
[spawner-4] 
[spawner-4]   'error not set, at ./src/rcl/node.c:263'
[spawner-4] 
[spawner-4] with this new error message:
[spawner-4] 
[spawner-4]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-4] 
[spawner-4] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-4] <<<
[spawner-4] [ERROR 1711179124.828721830] [rcl]: Failed to fini publisher for node: 1 (./src/rcl/node.c:312)
[spawner-3] 1711179124.829929 [11]    spawner: selected interface "lo" is not multicast-capable: disabling multicast
[spawner-3] 1711179124.830183 [11]    spawner: Failed to find a free participant index for domain 11
[spawner-3] [ERROR 1711179124.830261766] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create domain, error Error (./src/rmw_node.cpp:1078)
[spawner-3] 
[spawner-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[spawner-3] This error state is being overwritten:
[spawner-3] 
[spawner-3]   'error not set, at ./src/rcl/node.c:263'
[spawner-3] 
[spawner-3] with this new error message:
[spawner-3] 
[spawner-3]   'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[spawner-3] 
[spawner-3] rcutils_reset_error() should be called after error handling to avoid this.
[spawner-3] <<<
[spawner-3] [ERROR 1711179124.830302283] [rcl]: Failed to fini publisher for node: 1 (./src/rcl/node.c:312)
[spawner-4] Traceback (most recent call last):
[spawner-4]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-4]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-4]     node = Node("spawner_" + controller_names[0])
[spawner-4]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-3] Traceback (most recent call last):
[spawner-3]   File "/opt/ros/humble/lib/controller_manager/spawner", line 33, in <module>
[spawner-3]     sys.exit(load_entry_point('controller-manager==2.40.0', 'console_scripts', 'spawner')())
[spawner-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py", line 212, in main
[spawner-3]     node = Node("spawner_" + controller_names[0])
[spawner-3]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 175, in __init__
[spawner-4]     self.__node = _rclpy.Node(
[spawner-4] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[spawner-3]     self.__node = _rclpy.Node(
[spawner-3] rclpy._rclpy_pybind11.RCLError: error creating node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [spawner-4]: process has died [pid 43122, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner jackal_velocity_controller --controller-manager /controller_manager --ros-args'].
[ERROR] [spawner-3]: process has died [pid 43120, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args'].