From 3ca3e94ec6807557239d09f69753b59fe6ef15fe Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Fri, 23 Aug 2024 15:34:51 +0200
Subject: [PATCH]  propagate gazebo remapping and other arguments to the
 controller node (#370)

---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 9943d20..810f9a1 100644
--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -359,12 +359,14 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
 
   // Create the controller manager
   RCLCPP_INFO(impl_->model_nh_->get_logger(), "Loading controller_manager");
+  rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+  options.arguments(arguments);
   impl_->controller_manager_.reset(
     new controller_manager::ControllerManager(
       std::move(resource_manager_),
       impl_->executor_,
       controllerManagerNodeName,
-      impl_->model_nh_->get_namespace()));
+      impl_->model_nh_->get_namespace(), options));
   impl_->executor_->add_node(impl_->controller_manager_);
 
   auto cm_update_rate = impl_->controller_manager_->get_update_rate();