From 373d5dde77f66bc930d37800cdfb613d73ce4bcb Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 15:53:48 +0200
Subject: [PATCH 01/11] update the load controller to reuse things from the
 spawner

---
 ros2controlcli/ros2controlcli/api/__init__.py |   2 +-
 .../ros2controlcli/verb/load_controller.py    | 104 ++++++++++++++----
 2 files changed, 85 insertions(+), 21 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/api/__init__.py b/ros2controlcli/ros2controlcli/api/__init__.py
index 2b4b805980..ef814bb99b 100644
--- a/ros2controlcli/ros2controlcli/api/__init__.py
+++ b/ros2controlcli/ros2controlcli/api/__init__.py
@@ -95,7 +95,7 @@ def add_controller_mgr_parsers(parser):
         "-c",
         "--controller-manager",
         help="Name of the controller manager ROS node",
-        default="/controller_manager",
+        default="controller_manager",
         required=False,
     )
     arg.completer = NodeNameCompleter(include_hidden_nodes_key="include_hidden_nodes")
diff --git a/ros2controlcli/ros2controlcli/verb/load_controller.py b/ros2controlcli/ros2controlcli/verb/load_controller.py
index b5a155de94..f57e781588 100644
--- a/ros2controlcli/ros2controlcli/verb/load_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/load_controller.py
@@ -12,13 +12,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from controller_manager import configure_controller, load_controller, switch_controllers
+from controller_manager import (
+    configure_controller,
+    load_controller,
+    list_controllers,
+    switch_controllers,
+    set_controller_parameters_from_param_file,
+    bcolors,
+)
 
 from ros2cli.node.direct import add_arguments
 from ros2cli.node.strategy import NodeStrategy
 from ros2cli.verb import VerbExtension
 
 from ros2controlcli.api import add_controller_mgr_parsers, ControllerNameCompleter
+import os
 
 
 class LoadControllerVerb(VerbExtension):
@@ -28,37 +36,93 @@ def add_arguments(self, parser, cli_name):
         add_arguments(parser)
         arg = parser.add_argument("controller_name", help="Name of the controller")
         arg.completer = ControllerNameCompleter()
+        arg = parser.add_argument(
+            "param_file",
+            help="The YAML file with the controller parameters",
+            nargs="?",
+            default=None,
+        )
         arg = parser.add_argument(
             "--set-state",
             choices=["inactive", "active"],
             help="Set the state of the loaded controller",
+            default=None,
         )
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
-            response = load_controller(node, args.controller_manager, args.controller_name)
-            if not response.ok:
-                return "Error loading controller, check controller_manager logs"
+            controllers = list_controllers(node, args.controller_manager, 20.0).controller
+            if any(c.name == args.controller_name for c in controllers):
+                print(
+                    bcolors.WARNING
+                    + f"Controller : {args.controller_name} already loaded, skipping load_controller!"
+                    + bcolors.ENDC
+                )
+            else:
+                if args.param_file:
+                    if not os.path.exists(args.param_file):
+                        print(
+                            bcolors.FAIL
+                            + f"Controller parameter file : {args.param_file} does not exist, Aborting!"
+                            + bcolors.ENDC
+                        )
+                        return 1
+                    if not os.path.isabs(args.param_file):
+                        args.param_file = os.path.join(os.getcwd(), args.param_file)
 
-            if not args.set_state:
-                print(f"Successfully loaded controller {args.controller_name}")
-                return 0
+                    if not set_controller_parameters_from_param_file(
+                        node,
+                        args.controller_manager,
+                        args.controller_name,
+                        args.param_file,
+                        node.get_namespace(),
+                    ):
+                        return 1
 
-            # we in any case configure the controller
-            response = configure_controller(node, args.controller_manager, args.controller_name)
-            if not response.ok:
-                return "Error configuring controller"
+                ret = load_controller(node, args.controller_manager, args.controller_name)
+                if not ret.ok:
+                    print(
+                        bcolors.FAIL
+                        + f"Failed loading controller {args.controller_name} check controller_manager logs"
+                        + bcolors.ENDC
+                    )
+                    return 1
+                print(
+                    bcolors.OKBLUE
+                    + f"Successfully loaded controller {args.controller_name}"
+                    + bcolors.ENDC
+                )
 
-            if args.set_state == "active":
-                response = switch_controllers(
-                    node, args.controller_manager, [], [args.controller_name], True, True, 5.0
+            if args.set_state:
+
+                # we in any case configure the controller
+                response = configure_controller(
+                    node, args.controller_manager, args.controller_name
                 )
                 if not response.ok:
-                    return "Error activating controller, check controller_manager logs"
+                    print(
+                        bcolors.FAIL
+                        + f"Error configuring controller : {args.controller_name}"
+                        + bcolors.ENDC
+                    )
+                    return 1
+
+                if args.set_state == "active":
+                    response = switch_controllers(
+                        node, args.controller_manager, [], [args.controller_name], True, True, 5.0
+                    )
+                    if not response.ok:
+                        print(
+                            bcolors.FAIL
+                            + f"Error activating controller : {args.controller_name}, check controller_manager logs"
+                            + bcolors.ENDC
+                        )
+                        return 1
 
-            print(
-                f"Successfully loaded controller {args.controller_name} into "
-                f'state {"inactive" if args.set_state == "inactive" else "active"}'
-            )
-            return 0
+                print(
+                    bcolors.OKBLUE
+                    + f"Successfully loaded controller {args.controller_name} into state {args.set_state}"
+                    + bcolors.ENDC
+                )
+                return 0

From 1109598c590de7d43d9455ae4aaab0c3a4b1be99 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 16:10:27 +0200
Subject: [PATCH 02/11] update switch and unload controller to use bcolors

---
 .../ros2controlcli/verb/switch_controllers.py   | 11 ++++++++---
 .../ros2controlcli/verb/unload_controller.py    | 17 +++++++++++++----
 2 files changed, 21 insertions(+), 7 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/verb/switch_controllers.py b/ros2controlcli/ros2controlcli/verb/switch_controllers.py
index 1c798c29b8..840dd96f02 100644
--- a/ros2controlcli/ros2controlcli/verb/switch_controllers.py
+++ b/ros2controlcli/ros2controlcli/verb/switch_controllers.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from controller_manager import switch_controllers
+from controller_manager import switch_controllers, bcolors
 
 from ros2cli.node.direct import add_arguments
 from ros2cli.node.strategy import NodeStrategy
@@ -63,7 +63,12 @@ def main(self, *, args):
                 args.switch_timeout,
             )
             if not response.ok:
-                return "Error switching controllers, check controller_manager logs"
+                print(
+                    bcolors.FAIL
+                    + "Error switching controllers, check controller_manager logs"
+                    + bcolors.ENDC
+                )
+                return 1
 
-            print("Successfully switched controllers")
+            print(bcolors.OKBLUE + "Successfully switched controllers" + bcolors.ENDC)
             return 0
diff --git a/ros2controlcli/ros2controlcli/verb/unload_controller.py b/ros2controlcli/ros2controlcli/verb/unload_controller.py
index 81612eb3ad..bbd8ea081c 100644
--- a/ros2controlcli/ros2controlcli/verb/unload_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/unload_controller.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from controller_manager import unload_controller
+from controller_manager import unload_controller, bcolors
 
 from ros2cli.node.direct import add_arguments
 from ros2cli.node.strategy import NodeStrategy
@@ -34,7 +34,16 @@ def main(self, *, args):
         with NodeStrategy(args) as node:
             response = unload_controller(node, args.controller_manager, args.controller_name)
             if not response.ok:
-                return "Error unloading controllers, check controller_manager logs"
-
-            print(f"Successfully unloaded controller {args.controller_name}")
+                print(
+                    bcolors.FAIL
+                    + f"Error unloading controller {args.controller_name}, check controller_manager logs"
+                    + bcolors.ENDC
+                )
+                return 1
+
+            print(
+                bcolors.OKBLUE
+                + f"Successfully unloaded controller {args.controller_name}"
+                + bcolors.ENDC
+            )
             return 0

From 0b9cd03acfcf4ad49c5f6d3e026cf79347137408 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 17:39:42 +0200
Subject: [PATCH 03/11] Use fully qualified service name for better logging and
 debugging

---
 .../controller_manager_services.py            | 20 +++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py
index 7b0f726d68..9d151a43dc 100644
--- a/controller_manager/controller_manager/controller_manager_services.py
+++ b/controller_manager/controller_manager/controller_manager_services.py
@@ -88,15 +88,23 @@ def service_caller(
     @return The service response
 
     """
-    cli = node.create_client(service_type, service_name)
+    namespace = "" if node.get_namespace() == "/" else node.get_namespace()
+    fully_qualified_service_name = (
+        f"{namespace}/{service_name}" if not service_name.startswith("/") else service_name
+    )
+    cli = node.create_client(service_type, fully_qualified_service_name)
 
     while not cli.service_is_ready():
-        node.get_logger().info(f"waiting for service {service_name} to become available...")
+        node.get_logger().info(
+            f"waiting for service {fully_qualified_service_name} to become available..."
+        )
         if service_timeout:
             if not cli.wait_for_service(service_timeout):
-                raise ServiceNotFoundError(f"Could not contact service {service_name}")
+                raise ServiceNotFoundError(
+                    f"Could not contact service {fully_qualified_service_name}"
+                )
         elif not cli.wait_for_service(10.0):
-            node.get_logger().warn(f"Could not contact service {service_name}")
+            node.get_logger().warn(f"Could not contact service {fully_qualified_service_name}")
 
     node.get_logger().debug(f"requester: making request: {request}\n")
     future = None
@@ -105,13 +113,13 @@ def service_caller(
         rclpy.spin_until_future_complete(node, future, timeout_sec=call_timeout)
         if future.result() is None:
             node.get_logger().warning(
-                f"Failed getting a result from calling {service_name} in "
+                f"Failed getting a result from calling {fully_qualified_service_name} in "
                 f"{service_timeout}. (Attempt {attempt+1} of {max_attempts}.)"
             )
         else:
             return future.result()
     raise RuntimeError(
-        f"Could not successfully call service {service_name} after {max_attempts} attempts."
+        f"Could not successfully call service {fully_qualified_service_name} after {max_attempts} attempts."
     )
 
 

From 6583657163bf3d09bdc6fa6ff6635e6f0691c740 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 17:40:10 +0200
Subject: [PATCH 04/11] Use argparse OPTIONAL variable

---
 ros2controlcli/ros2controlcli/verb/load_controller.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ros2controlcli/ros2controlcli/verb/load_controller.py b/ros2controlcli/ros2controlcli/verb/load_controller.py
index f57e781588..13199f37e1 100644
--- a/ros2controlcli/ros2controlcli/verb/load_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/load_controller.py
@@ -27,6 +27,7 @@
 
 from ros2controlcli.api import add_controller_mgr_parsers, ControllerNameCompleter
 import os
+from argparse import OPTIONAL
 
 
 class LoadControllerVerb(VerbExtension):
@@ -39,7 +40,7 @@ def add_arguments(self, parser, cli_name):
         arg = parser.add_argument(
             "param_file",
             help="The YAML file with the controller parameters",
-            nargs="?",
+            nargs=OPTIONAL,
             default=None,
         )
         arg = parser.add_argument(

From 46d70ad900f28cfebcf19991efd737b6d5b8d49d Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 17:59:00 +0200
Subject: [PATCH 05/11] Remove unused service caller

---
 ros2controlcli/ros2controlcli/api/__init__.py | 27 -------------------
 1 file changed, 27 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/api/__init__.py b/ros2controlcli/ros2controlcli/api/__init__.py
index ef814bb99b..aa3afcc42f 100644
--- a/ros2controlcli/ros2controlcli/api/__init__.py
+++ b/ros2controlcli/ros2controlcli/api/__init__.py
@@ -15,8 +15,6 @@
 
 from controller_manager import list_controllers, list_hardware_components
 
-import rclpy
-
 from ros2cli.node.direct import DirectNode
 
 from ros2node.api import NodeNameCompleter
@@ -24,31 +22,6 @@
 from ros2param.api import call_list_parameters
 
 
-def service_caller(service_name, service_type, request):
-    try:
-        rclpy.init()
-
-        node = rclpy.create_node(f"ros2controlcli_{service_name.replace('/', '')}_requester")
-
-        cli = node.create_client(service_type, service_name)
-
-        if not cli.service_is_ready():
-            node.get_logger().debug(f"waiting for service {service_name} to become available...")
-
-            if not cli.wait_for_service(2.0):
-                raise RuntimeError(f"Could not contact service {service_name}")
-
-        node.get_logger().debug(f"requester: making request: {repr(request)}\n")
-        future = cli.call_async(request)
-        rclpy.spin_until_future_complete(node, future)
-        if future.result() is not None:
-            return future.result()
-        else:
-            future_exception = future.exception()
-            raise RuntimeError(f"Exception while calling service: {repr(future_exception)}")
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
 
 
 class ControllerNameCompleter:

From baef43fec52827053f13c1c94e40908a2c147fd3 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 18:44:59 +0200
Subject: [PATCH 06/11] Add ability to parse ros args to the ros2controlcli

---
 ros2controlcli/ros2controlcli/api/__init__.py | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/api/__init__.py b/ros2controlcli/ros2controlcli/api/__init__.py
index aa3afcc42f..8475620b72 100644
--- a/ros2controlcli/ros2controlcli/api/__init__.py
+++ b/ros2controlcli/ros2controlcli/api/__init__.py
@@ -21,7 +21,7 @@
 
 from ros2param.api import call_list_parameters
 
-
+import argparse
 
 
 class ControllerNameCompleter:
@@ -62,8 +62,14 @@ def __call__(self, prefix, parsed_args, **kwargs):
             return [c.name for c in hardware_components if c.state.label in self.valid_states]
 
 
+class ParserROSArgs(argparse.Action):
+    def __call__(self, parser, namespace, values, option_string=None):
+        values = [option_string] + values
+        setattr(namespace, "argv", values)
+
+
 def add_controller_mgr_parsers(parser):
-    """Parser arguments to get controller manager node name, defaults to /controller_manager."""
+    """Parser arguments to get controller manager node name, defaults to controller_manager."""
     arg = parser.add_argument(
         "-c",
         "--controller-manager",
@@ -75,3 +81,9 @@ def add_controller_mgr_parsers(parser):
     parser.add_argument(
         "--include-hidden-nodes", action="store_true", help="Consider hidden nodes as well"
     )
+    parser.add_argument(
+        "--ros-args",
+        nargs=argparse.REMAINDER,
+        help="Pass arbitrary arguments to the executable",
+        action=ParserROSArgs,
+    )

From 4594e36da109e565e91fad29397dbe541dbc99a1 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 19 Aug 2024 18:45:26 +0200
Subject: [PATCH 07/11] use direct_node from NodeStrategy to be able to use the
 node namespacing properly

---
 ros2controlcli/ros2controlcli/verb/list_controller_types.py     | 2 +-
 ros2controlcli/ros2controlcli/verb/list_controllers.py          | 2 +-
 ros2controlcli/ros2controlcli/verb/list_hardware_components.py  | 2 +-
 ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py  | 2 +-
 ros2controlcli/ros2controlcli/verb/load_controller.py           | 2 +-
 .../ros2controlcli/verb/reload_controller_libraries.py          | 2 +-
 ros2controlcli/ros2controlcli/verb/set_controller_state.py      | 2 +-
 .../ros2controlcli/verb/set_hardware_component_state.py         | 2 +-
 ros2controlcli/ros2controlcli/verb/switch_controllers.py        | 2 +-
 ros2controlcli/ros2controlcli/verb/unload_controller.py         | 2 +-
 ros2controlcli/ros2controlcli/verb/view_controller_chains.py    | 2 +-
 11 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/verb/list_controller_types.py b/ros2controlcli/ros2controlcli/verb/list_controller_types.py
index 086b820124..370c8cdc0d 100644
--- a/ros2controlcli/ros2controlcli/verb/list_controller_types.py
+++ b/ros2controlcli/ros2controlcli/verb/list_controller_types.py
@@ -29,7 +29,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             response = list_controller_types(node, args.controller_manager)
             types_and_classes = zip(response.types, response.base_classes)
             for c in types_and_classes:
diff --git a/ros2controlcli/ros2controlcli/verb/list_controllers.py b/ros2controlcli/ros2controlcli/verb/list_controllers.py
index 3daf752b8c..f50bad1345 100644
--- a/ros2controlcli/ros2controlcli/verb/list_controllers.py
+++ b/ros2controlcli/ros2controlcli/verb/list_controllers.py
@@ -95,7 +95,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             response = list_controllers(node, args.controller_manager)
 
             # Structure data as table for nicer output
diff --git a/ros2controlcli/ros2controlcli/verb/list_hardware_components.py b/ros2controlcli/ros2controlcli/verb/list_hardware_components.py
index e3e2269920..3194fee73f 100644
--- a/ros2controlcli/ros2controlcli/verb/list_hardware_components.py
+++ b/ros2controlcli/ros2controlcli/verb/list_hardware_components.py
@@ -36,7 +36,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             hardware_components = list_hardware_components(node, args.controller_manager)
 
             for idx, component in enumerate(hardware_components.component):
diff --git a/ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py b/ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py
index 4510998ad9..a0bf8a8403 100644
--- a/ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py
+++ b/ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py
@@ -28,7 +28,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             hardware_interfaces = list_hardware_interfaces(node, args.controller_manager)
             command_interfaces = sorted(
                 hardware_interfaces.command_interfaces, key=lambda hwi: hwi.name
diff --git a/ros2controlcli/ros2controlcli/verb/load_controller.py b/ros2controlcli/ros2controlcli/verb/load_controller.py
index 13199f37e1..5a6d7b643b 100644
--- a/ros2controlcli/ros2controlcli/verb/load_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/load_controller.py
@@ -52,7 +52,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             controllers = list_controllers(node, args.controller_manager, 20.0).controller
             if any(c.name == args.controller_name for c in controllers):
                 print(
diff --git a/ros2controlcli/ros2controlcli/verb/reload_controller_libraries.py b/ros2controlcli/ros2controlcli/verb/reload_controller_libraries.py
index 82bc2e480f..e60c9987a0 100644
--- a/ros2controlcli/ros2controlcli/verb/reload_controller_libraries.py
+++ b/ros2controlcli/ros2controlcli/verb/reload_controller_libraries.py
@@ -32,7 +32,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             response = reload_controller_libraries(
                 node, args.controller_manager, force_kill=args.force_kill
             )
diff --git a/ros2controlcli/ros2controlcli/verb/set_controller_state.py b/ros2controlcli/ros2controlcli/verb/set_controller_state.py
index 7cc44775a1..830d309b13 100644
--- a/ros2controlcli/ros2controlcli/verb/set_controller_state.py
+++ b/ros2controlcli/ros2controlcli/verb/set_controller_state.py
@@ -37,7 +37,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             controllers = list_controllers(node, args.controller_manager).controller
 
             try:
diff --git a/ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py b/ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py
index 4b1093f4f7..00f62f3e4c 100644
--- a/ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py
+++ b/ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py
@@ -39,7 +39,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
 
             if args.state == "unconfigured":
 
diff --git a/ros2controlcli/ros2controlcli/verb/switch_controllers.py b/ros2controlcli/ros2controlcli/verb/switch_controllers.py
index 840dd96f02..60ceb000c4 100644
--- a/ros2controlcli/ros2controlcli/verb/switch_controllers.py
+++ b/ros2controlcli/ros2controlcli/verb/switch_controllers.py
@@ -52,7 +52,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             response = switch_controllers(
                 node,
                 args.controller_manager,
diff --git a/ros2controlcli/ros2controlcli/verb/unload_controller.py b/ros2controlcli/ros2controlcli/verb/unload_controller.py
index bbd8ea081c..2adf08c100 100644
--- a/ros2controlcli/ros2controlcli/verb/unload_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/unload_controller.py
@@ -31,7 +31,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             response = unload_controller(node, args.controller_manager, args.controller_name)
             if not response.ok:
                 print(
diff --git a/ros2controlcli/ros2controlcli/verb/view_controller_chains.py b/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
index f838a96e1c..dafe067539 100644
--- a/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
+++ b/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
@@ -202,7 +202,7 @@ def add_arguments(self, parser, cli_name):
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args).direct_node as node:
             list_controllers_response = list_controllers(node, args.controller_manager)
             list_hardware_response = list_hardware_interfaces(node, args.controller_manager)
             parse_response(list_controllers_response, list_hardware_response)

From bf6bfd5c5156dbf2e8e8131e891636f64a810aa1 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 20 Aug 2024 17:50:06 +0200
Subject: [PATCH 08/11] update print formatting

---
 .../ros2controlcli/verb/load_controller.py    | 28 +++++--------------
 .../ros2controlcli/verb/unload_controller.py  |  8 ++----
 2 files changed, 9 insertions(+), 27 deletions(-)

diff --git a/ros2controlcli/ros2controlcli/verb/load_controller.py b/ros2controlcli/ros2controlcli/verb/load_controller.py
index 5a6d7b643b..e47540a1df 100644
--- a/ros2controlcli/ros2controlcli/verb/load_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/load_controller.py
@@ -56,17 +56,13 @@ def main(self, *, args):
             controllers = list_controllers(node, args.controller_manager, 20.0).controller
             if any(c.name == args.controller_name for c in controllers):
                 print(
-                    bcolors.WARNING
-                    + f"Controller : {args.controller_name} already loaded, skipping load_controller!"
-                    + bcolors.ENDC
+                    f"{bcolors.WARNING}Controller : {args.controller_name} already loaded, skipping load_controller!{bcolors.ENDC}"
                 )
             else:
                 if args.param_file:
                     if not os.path.exists(args.param_file):
                         print(
-                            bcolors.FAIL
-                            + f"Controller parameter file : {args.param_file} does not exist, Aborting!"
-                            + bcolors.ENDC
+                            f"{bcolors.FAIL}Controller parameter file : {args.param_file} does not exist, Aborting!{bcolors.ENDC}"
                         )
                         return 1
                     if not os.path.isabs(args.param_file):
@@ -84,15 +80,11 @@ def main(self, *, args):
                 ret = load_controller(node, args.controller_manager, args.controller_name)
                 if not ret.ok:
                     print(
-                        bcolors.FAIL
-                        + f"Failed loading controller {args.controller_name} check controller_manager logs"
-                        + bcolors.ENDC
+                        f"{bcolors.FAIL}Failed loading controller {args.controller_name} check controller_manager logs{bcolors.ENDC}"
                     )
                     return 1
                 print(
-                    bcolors.OKBLUE
-                    + f"Successfully loaded controller {args.controller_name}"
-                    + bcolors.ENDC
+                    f"{bcolors.OKBLUE}Successfully loaded controller {args.controller_name}{bcolors.ENDC}"
                 )
 
             if args.set_state:
@@ -103,9 +95,7 @@ def main(self, *, args):
                 )
                 if not response.ok:
                     print(
-                        bcolors.FAIL
-                        + f"Error configuring controller : {args.controller_name}"
-                        + bcolors.ENDC
+                        f"{bcolors.FAIL}Error configuring controller : {args.controller_name}{bcolors.ENDC}"
                     )
                     return 1
 
@@ -115,15 +105,11 @@ def main(self, *, args):
                     )
                     if not response.ok:
                         print(
-                            bcolors.FAIL
-                            + f"Error activating controller : {args.controller_name}, check controller_manager logs"
-                            + bcolors.ENDC
+                            f"{bcolors.FAIL}Error activating controller : {args.controller_name}, check controller_manager logs{bcolors.ENDC}"
                         )
                         return 1
 
                 print(
-                    bcolors.OKBLUE
-                    + f"Successfully loaded controller {args.controller_name} into state {args.set_state}"
-                    + bcolors.ENDC
+                    f"{bcolors.OKBLUE}Successfully loaded controller {args.controller_name} into state {args.set_state}{bcolors.ENDC}"
                 )
                 return 0
diff --git a/ros2controlcli/ros2controlcli/verb/unload_controller.py b/ros2controlcli/ros2controlcli/verb/unload_controller.py
index 2adf08c100..cd445cbb70 100644
--- a/ros2controlcli/ros2controlcli/verb/unload_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/unload_controller.py
@@ -35,15 +35,11 @@ def main(self, *, args):
             response = unload_controller(node, args.controller_manager, args.controller_name)
             if not response.ok:
                 print(
-                    bcolors.FAIL
-                    + f"Error unloading controller {args.controller_name}, check controller_manager logs"
-                    + bcolors.ENDC
+                    f"{bcolors.FAIL}Error unloading controller {args.controller_name}, check controller_manager logs{bcolors.ENDC}"
                 )
                 return 1
 
             print(
-                bcolors.OKBLUE
-                + f"Successfully unloaded controller {args.controller_name}"
-                + bcolors.ENDC
+                f"{bcolors.OKBLUE}Successfully unloaded controller {args.controller_name}{bcolors.ENDC}"
             )
             return 0

From 14297c223625f3f74da91247617ab5e05816a767 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 20 Aug 2024 18:09:25 +0200
Subject: [PATCH 09/11] update release notes

---
 doc/release_notes.rst | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index caa28ca9d0..797db16ecc 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -114,3 +114,15 @@ ros2controlcli
   .. code-block:: bash
 
     ros2 control set_hardware_component_state <hardware_component_name> <state>
+
+* The ``load_controller`` now supports parsing of the params file (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control load_controller <controller_name> <realtive_or_absolute_file_path>
+
+* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>

From ee62259355e8ae9f41deb9c42f77f1247d2ce16f Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 26 Aug 2024 09:44:12 +0200
Subject: [PATCH 10/11] update ros2controlcli documentation

---
 ros2controlcli/doc/userdoc.rst | 117 ++++++++++++++++++++-------------
 1 file changed, 72 insertions(+), 45 deletions(-)

diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
index 5dd88cd6d9..e310f9336c 100644
--- a/ros2controlcli/doc/userdoc.rst
+++ b/ros2controlcli/doc/userdoc.rst
@@ -28,18 +28,30 @@ list_controllers
 .. code-block:: console
 
     $ ros2 control list_controllers -h
-    usage: ros2 control list_controllers [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+    usage: ros2 control list_controllers [-h] [--spin-time SPIN_TIME] [-s] [--claimed-interfaces] [--required-state-interfaces] [--required-command-interfaces] [--chained-interfaces] [--reference-interfaces] [--verbose]
+                                        [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Output the list of loaded controllers, their type and status
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
+      --claimed-interfaces  List controller's claimed interfaces
+      --required-state-interfaces
+                            List controller's required state interfaces
+      --required-command-interfaces
+                            List controller's required command interfaces
+      --chained-interfaces  List interfaces that the controllers are chained to
+      --reference-interfaces
+                            List controller's exported references
+      --verbose, -v         List controller's claimed interfaces, required state interfaces and required command interfaces
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 Example output:
 
@@ -55,18 +67,20 @@ list_controller_types
 .. code-block:: console
 
     $ ros2 control list_controller_types -h
-    usage: ros2 control list_controller_types [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+    usage: ros2 control list_controller_types [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Output the available controller types and their base classes
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 Example output:
 
@@ -84,21 +98,21 @@ list_hardware_components
 .. code-block:: console
 
     $ ros2 control list_hardware_components -h
-    usage: ros2 control list_hardware_components [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+    usage: ros2 control list_hardware_components [-h] [--spin-time SPIN_TIME] [-s] [--verbose] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Output the list of available hardware components
 
     options:
-    -h, --help            show this help message and exit
-    --spin-time SPIN_TIME
+      -h, --help            show this help message and exit
+      --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-    -s, --use-sim-time    Enable ROS simulation time
-    --verbose, -v         List hardware components with command and state interfaces
-    -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
+      -s, --use-sim-time    Enable ROS simulation time
+      --verbose, -v         List hardware components with command and state interfaces
+      -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
-    --include-hidden-nodes
+      --include-hidden-nodes
                             Consider hidden nodes as well
-
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 Example output:
 
@@ -118,18 +132,20 @@ list_hardware_interfaces
 .. code-block:: console
 
     $ ros2 control list_hardware_interfaces -h
-    usage: ros2 control list_hardware_interfaces [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+    usage: ros2 control list_hardware_interfaces [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Output the list of available command and state interfaces
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 
 .. code-block:: console
@@ -149,23 +165,26 @@ load_controller
 .. code-block:: console
 
     $ ros2 control load_controller -h
-    usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [--set-state {inactive,active}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name
+    usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [-s] [--set-state {inactive,active}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name [param_file]
 
     Load a controller in a controller manager
 
     positional arguments:
       controller_name       Name of the controller
+      param_file            The YAML file with the controller parameters
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       --set-state {inactive,active}
                             Set the state of the loaded controller
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 reload_controller_libraries
 ---------------------------
@@ -173,19 +192,21 @@ reload_controller_libraries
 .. code-block:: console
 
     $ ros2 control reload_controller_libraries -h
-    usage: ros2 control reload_controller_libraries [-h] [--spin-time SPIN_TIME] [--force-kill] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+    usage: ros2 control reload_controller_libraries [-h] [--spin-time SPIN_TIME] [-s] [--force-kill] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Reload controller libraries
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       --force-kill          Force stop of loaded controllers
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 set_controller_state
 --------------------
@@ -193,23 +214,24 @@ set_controller_state
 .. code-block:: console
 
     $ ros2 control set_controller_state -h
-    usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name {inactive,active}
+    usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name {inactive,active}
 
     Adjust the state of the controller
 
     positional arguments:
       controller_name       Name of the controller to be changed
-      {inactive,active}
-                            State in which the controller should be changed to
+      {inactive,active}     State in which the controller should be changed to
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 set_hardware_component_state
 ----------------------------
@@ -217,8 +239,7 @@ set_hardware_component_state
 .. code-block:: console
 
     $ ros2 control set_hardware_component_state -h
-    usage: ros2 control set_hardware_component_state [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
-                                                    hardware_component_name {unconfigured,inactive,active}
+    usage: ros2 control set_hardware_component_state [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] hardware_component_name {unconfigured,inactive,active}
 
     Adjust the state of the hardware component
 
@@ -237,6 +258,7 @@ set_hardware_component_state
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 switch_controllers
 ------------------
@@ -244,27 +266,29 @@ switch_controllers
 .. code-block:: console
 
     $ ros2 control switch_controllers -h
-    usage: ros2 control switch_controllers [-h] [--spin-time SPIN_TIME] [--deactivate [CTRL1 [CTRL2 ...]]] [--activate [CTRL1 [CTRL2 ...]]] [--strict] [--activate-asap] [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER]
-                                          [--include-hidden-nodes]
+    usage: ros2 control switch_controllers [-h] [--spin-time SPIN_TIME] [-s] [--deactivate [DEACTIVATE ...]] [--activate [ACTIVATE ...]] [--strict] [--activate-asap] [--switch-timeout SWITCH_TIMEOUT]
+                                          [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Switch controllers in a controller manager
 
-    optional arguments:
-    -h, --help            show this help message and exit
-    --spin-time SPIN_TIME
-    Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-    --deactivate [CTRL1 [CTRL2 ...]]
-    Name of the controllers to be deactivate
-    --activate [CTRL1 [CTRL2 ...]]
-    Name of the controllers to be activated
-    --strict              Strict switch
-    --activate-asap       Activate asap controllers
-    --switch-timeout SWITCH_TIMEOUT
-    Timeout for switching controllers
-    -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-    Name of the controller manager ROS node
-    --include-hidden-nodes
-                          Consider hidden nodes as well
+    options:
+      -h, --help            show this help message and exit
+      --spin-time SPIN_TIME
+                            Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
+      --deactivate [DEACTIVATE ...]
+                            Name of the controllers to be deactivated
+      --activate [ACTIVATE ...]
+                            Name of the controllers to be activated
+      --strict              Strict switch
+      --activate-asap       Start asap controllers
+      --switch-timeout SWITCH_TIMEOUT
+                            Timeout for switching controllers
+      -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
+                            Name of the controller manager ROS node
+      --include-hidden-nodes
+                            Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 unload_controller
 -----------------
@@ -272,21 +296,23 @@ unload_controller
 .. code-block:: console
 
     $ ros2 control unload_controller -h
-    usage: ros2 control unload_controller [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name
+    usage: ros2 control unload_controller [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...] controller_name
 
     Unload a controller in a controller manager
 
     positional arguments:
       controller_name       Name of the controller
 
-    optional arguments:
+    options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+      -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable
 
 view_controller_chains
 ----------------------
@@ -294,7 +320,7 @@ view_controller_chains
 .. code-block:: console
 
     $ ros2 control view_controller_chains -h
-    usage: ros2 view_controller_chains
+    usage: ros2 control view_controller_chains [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
     Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf
 
@@ -307,3 +333,4 @@ view_controller_chains
                             Name of the controller manager ROS node
       --include-hidden-nodes
                             Consider hidden nodes as well
+      --ros-args ...        Pass arbitrary arguments to the executable

From db66aa564bb5aee714e98b58da2f6f560120797e Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 26 Aug 2024 09:57:18 +0200
Subject: [PATCH 11/11] Add default info of the controller_manager

---
 ros2controlcli/doc/userdoc.rst                | 22 +++++++++----------
 ros2controlcli/ros2controlcli/api/__init__.py |  2 +-
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
index e310f9336c..8449583d61 100644
--- a/ros2controlcli/doc/userdoc.rst
+++ b/ros2controlcli/doc/userdoc.rst
@@ -48,7 +48,7 @@ list_controllers
                             List controller's exported references
       --verbose, -v         List controller's claimed interfaces, required state interfaces and required command interfaces
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -77,7 +77,7 @@ list_controller_types
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -109,7 +109,7 @@ list_hardware_components
       -s, --use-sim-time    Enable ROS simulation time
       --verbose, -v         List hardware components with command and state interfaces
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -142,7 +142,7 @@ list_hardware_interfaces
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -181,7 +181,7 @@ load_controller
       --set-state {inactive,active}
                             Set the state of the loaded controller
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -203,7 +203,7 @@ reload_controller_libraries
       -s, --use-sim-time    Enable ROS simulation time
       --force-kill          Force stop of loaded controllers
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -228,7 +228,7 @@ set_controller_state
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -255,7 +255,7 @@ set_hardware_component_state
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -285,7 +285,7 @@ switch_controllers
       --switch-timeout SWITCH_TIMEOUT
                             Timeout for switching controllers
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -309,7 +309,7 @@ unload_controller
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
@@ -330,7 +330,7 @@ view_controller_chains
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
-                            Name of the controller manager ROS node
+                            Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes
                             Consider hidden nodes as well
       --ros-args ...        Pass arbitrary arguments to the executable
diff --git a/ros2controlcli/ros2controlcli/api/__init__.py b/ros2controlcli/ros2controlcli/api/__init__.py
index 8475620b72..7ff78c3ed0 100644
--- a/ros2controlcli/ros2controlcli/api/__init__.py
+++ b/ros2controlcli/ros2controlcli/api/__init__.py
@@ -73,7 +73,7 @@ def add_controller_mgr_parsers(parser):
     arg = parser.add_argument(
         "-c",
         "--controller-manager",
-        help="Name of the controller manager ROS node",
+        help="Name of the controller manager ROS node (default: controller_manager)",
         default="controller_manager",
         required=False,
     )