Fix tests for using new get_node_options API

admittance_controller/test/test_admittance_controller.hpp

@@ -122,11 +122,16 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
     return success;
   }
 
+  rclcpp::NodeOptions get_node_options() const override { return node_options_; }
+
+  void set_node_options(const rclcpp::NodeOptions & node_options) { node_options_ = node_options; }
+
 private:
   rclcpp::WaitSet input_wrench_command_subscriber_wait_set_;
   rclcpp::WaitSet input_pose_command_subscriber_wait_set_;
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
+  rclcpp::NodeOptions node_options_;
 };
 
 class AdmittanceControllerTest : public ::testing::Test
@@ -185,7 +190,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", 0, "", options);
+    auto result = controller_->init(controller_name, "", 0, "");
 
     controller_->export_reference_interfaces();
     assign_interfaces();

doc/writing_new_controller.rst

@@ -42,7 +42,9 @@ The following is a step-by-step guide to create source files, basic tests, and c
    5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``on_init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
       For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.
 
-   6. (optional) Often, controllers accept lists of joint names and interface names as parameters.
+   6. (Optional) The NodeOptions of the LifecycleNode can be personalized by overriding the default method ``get_node_options``.
+
+   7. (Optional) Often, controllers accept lists of joint names and interface names as parameters.
       If so, you can add two protected string vectors to store those values.
 
 4. **Adding definitions into source file (.cpp)**

joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

@@ -66,6 +66,8 @@ class TestableJointTrajectoryController
     return ret;
   }
 
+  rclcpp::NodeOptions get_node_options() const override { return node_options_; }
+
   /**
    * @brief wait_for_trajectory block until a new JointTrajectory is received.
    * Requires that the executor is not spinned elsewhere between the
@@ -157,6 +159,8 @@ class TestableJointTrajectoryController
 
   double get_cmd_timeout() { return cmd_timeout_; }
 
+  void set_node_options(const rclcpp::NodeOptions & node_options) { node_options_ = node_options; }
+
   trajectory_msgs::msg::JointTrajectoryPoint get_state_feedback() { return state_current_; }
   trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; }
   trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; }
@@ -179,6 +183,7 @@ class TestableJointTrajectoryController
   }
 
   rclcpp::WaitSet joint_cmd_sub_wait_set_;
+  rclcpp::NodeOptions node_options_;
 };
 
 class TrajectoryControllerTest : public ::testing::Test
@@ -233,8 +238,9 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.push_back(rclcpp::Parameter("state_interfaces", state_interface_types_));
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
+    traj_controller_->set_node_options(node_options);
 
-    return traj_controller_->init(controller_name_, "", 0, "", node_options);
+    return traj_controller_->init(controller_name_, "", 0, "");
   }
 
   void SetPidParameters(