initialize URDF first to be able to retrieve parameters and override …

…in node options
ros-controls · Nov 24, 2023 · 6dfd58c · 6dfd58c
1 parent 8023c18
commit 6dfd58c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git 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 & namespace_)
 {
+  urdf_ = urdf;
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
     controller_name, namespace_, get_node_options(),
     false);  // disable LifecycleNode service interfaces
-  urdf_ = urdf;
 
   try
   {