From 59732a987b83bb87d900761ee4c877e9b0f70492 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 15 Nov 2023 23:01:50 +0100
Subject: [PATCH] initialize URDF first to be able to retrieve parameters and
 override in node options

---
 controller_interface/src/controller_interface_base.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 7e0b9b3d42e..28ddb66e6ab 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -28,10 +28,10 @@ return_type ControllerInterfaceBase::init(
   const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
   const std::string & node_namespace)
 {
+  urdf_ = urdf;
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
     controller_name, node_namespace, get_node_options(),
     false);  // disable LifecycleNode service interfaces
-  urdf_ = urdf;
 
   try
   {