From a949fc5bdf6af6c9ee2dab4c0190e5f5dabb0ac3 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 20 Nov 2023 20:30:28 +0100
Subject: [PATCH] added the API documentation of the new get_node_options
 method

---
 .../controller_interface/controller_interface_base.hpp      | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
index 9d780d2b35..093523ef11 100644
--- a/controller_interface/include/controller_interface/controller_interface_base.hpp
+++ b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -158,6 +158,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   const std::string & get_robot_description() const;
 
+  /**
+   * Method used by the `init` method to instantiate the Lifecycle node of the controller upon
+   * loading the controller
+   *
+   * @returns NodeOptions required for the configuration of the controller lifecycle node
+   */
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions get_node_options() const
   {