From b2794d021fe143a4814ae30d47933247386f006f Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 25 Sep 2024 19:18:34 +0200
Subject: [PATCH] [ControllerInterface] Fix to properly propagate the
 controller NodeOptions (#1762)

---
 .../controller_interface/controller_interface_base.hpp   | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
index c4a19fd8e3..74077969d3 100644
--- a/controller_interface/include/controller_interface/controller_interface_base.hpp
+++ b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -185,14 +185,15 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions define_custom_node_options() const
   {
+    rclcpp::NodeOptions node_options;
 // \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 21
-    return rclcpp::NodeOptions().enable_logger_service(true);
+    node_options.enable_logger_service(true);
 #else
-    return rclcpp::NodeOptions()
-      .allow_undeclared_parameters(true)
-      .automatically_declare_parameters_from_overrides(true);
+    node_options.allow_undeclared_parameters(true);
+    node_options.automatically_declare_parameters_from_overrides(true);
 #endif
+    return node_options;
   }
 
   /// Declare and initialize a parameter with a type.