add a new method to be able to override the NodeOptions

ros-controls · Nov 20, 2023 · b237817 · b237817
1 parent 2056d6c
commit b237817
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Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -115,8 +115,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
+    const std::string & namespace_ = "");
 
   /// Custom configure method to read additional parameters for controller-nodes
   /*
@@ -159,6 +158,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   const std::string & get_robot_description() const;
 
+  CONTROLLER_INTERFACE_PUBLIC
+  virtual rclcpp::NodeOptions get_node_options() const
+  {
+    return rclcpp::NodeOptions().enable_logger_service(true);
+  }
+
   /// Declare and initialize a parameter with a type.
   /**
    *

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -26,10 +26,11 @@ namespace controller_interface
 {
 return_type ControllerInterfaceBase::init(
   const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-  const std::string & namespace_, const rclcpp::NodeOptions & node_options)
+  const std::string & namespace_)
 {
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
-    controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces
+    controller_name, namespace_, get_node_options(),
+    false);  // disable LifecycleNode service interfaces
   urdf_ = urdf;
 
   try