From fd5e56a0e6332519fbae35b1a9a235f0e30df7ec Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Mon, 20 Jul 2020 10:38:49 -0300
Subject: [PATCH] Set domain id to 0 if it is RMW_DEFAULT_DOMAIN_ID (#719)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rcl/src/rcl/init.c | 3 +++
 rcl/src/rcl/node.c | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index 0cb92bb..94a874c 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -152,6 +152,9 @@ rcl_init(
       goto fail;
     }
   }
+  if (RMW_DEFAULT_DOMAIN_ID == *domain_id) {
+    *domain_id = 0u;
+  }
 
   rmw_localhost_only_t * localhost_only =
     &context->impl->init_options.impl->rmw_init_options.localhost_only;
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 46d2480..42ec35d 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -260,6 +260,9 @@ rcl_node_init(
       goto fail;
     }
   }
+  if (RMW_DEFAULT_DOMAIN_ID == domain_id) {
+    domain_id = 0u;
+  }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Using domain ID of '%zu'", domain_id);
   node->impl->actual_domain_id = domain_id;