Maximum number of nodes in ROS2

[SecretaryBirds]

@SecretaryBirds

none:, which causes it to use arbitrary port numbers for unicast sockets which entirely removes the constraints on the participant index but makes unicast discovery impossible.

After playing with this some more, changing the ParticipantIndex tag in the ros_ospl.xml file actually works, and setting it to ‘none’ allows 10+ nodes to launch successfully. Of course, you loose unicast discovery, but this is at least a temporary workaround.