update tests to use the new get_node_options API

ros-controls · Nov 15, 2023 · 63dafed · 63dafed
1 parent ffe5e5e
commit 63dafed
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Showing 3 changed files with 16 additions and 22 deletions.
diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -41,13 +41,9 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
 
   controller_interface::return_type init(
     const std::string & controller_name, const std::string & urdf,
-    const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options =
-      rclcpp::NodeOptions()
-        .allow_undeclared_parameters(true)
-        .automatically_declare_parameters_from_overrides(true)) override
+    const std::string & namespace_ = "") override
   {
-    ControllerInterface::init(controller_name, urdf, namespace_, node_options);
+    ControllerInterface::init(controller_name, urdf, namespace_);
 
     switch (on_init())
     {
@@ -68,6 +64,13 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
     }
   }
 
+  rclcpp::NodeOptions get_node_options() const override
+  {
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+  }
+
   controller_interface::InterfaceConfiguration command_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
@@ -31,13 +31,6 @@ TestControllerFailedInit::on_init()
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
 }
 
-controller_interface::return_type TestControllerFailedInit::init(
-  const std::string & /* controller_name */, const std::string & /* urdf */,
-  const std::string & /*namespace_*/, const rclcpp::NodeOptions & /*node_options*/)
-{
-  return controller_interface::return_type::ERROR;
-}
-
 controller_interface::return_type TestControllerFailedInit::update(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp
@@ -38,21 +38,19 @@ class TestControllerFailedInit : public controller_interface::ControllerInterfac
   CONTROLLER_MANAGER_PUBLIC
   virtual ~TestControllerFailedInit() = default;
 
-  CONTROLLER_INTERFACE_PUBLIC
-  controller_interface::return_type init(
-    const std::string & controller_name, const std::string & urdf,
-    const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options =
-      rclcpp::NodeOptions()
-        .allow_undeclared_parameters(true)
-        .automatically_declare_parameters_from_overrides(true)) override;
-
   controller_interface::InterfaceConfiguration command_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{
       controller_interface::interface_configuration_type::NONE};
   }
 
+  rclcpp::NodeOptions get_node_options() const override
+  {
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+  }
+
   controller_interface::InterfaceConfiguration state_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{