rename get_node_option to define_custom_node_options as per review su…

…ggestions
ros-controls · Jan 18, 2024 · d20b971 · d20b971
1 parent 90f31c4
commit d20b971
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Showing 4 changed files with 11 additions and 6 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -159,13 +159,18 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   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
+   * Method used by the controller_manager as a base NodeOptions to instantiate the Lifecycle node
+   * of the controller upon loading the controller.
+   *
+   * \note The controller_manager will add modify these NodeOptions in case, a params file is passed
+   * by the spawner to load the controller parameters or when controllers are loaded in simulation
+   * (see ros2_control#1311, ros2_controllers#698 , ros2_controllers#795,ros2_controllers#966 for
+   * more details)
    *
    * @returns NodeOptions required for the configuration of the controller lifecycle node
    */
   CONTROLLER_INTERFACE_PUBLIC
-  virtual rclcpp::NodeOptions get_node_options() const
+  virtual rclcpp::NodeOptions define_custom_node_options() const
   {
     return rclcpp::NodeOptions().enable_logger_service(true);
   }

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -30,7 +30,7 @@ return_type ControllerInterfaceBase::init(
 {
   urdf_ = urdf;
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
-    controller_name, node_namespace, get_node_options(),
+    controller_name, node_namespace, define_custom_node_options(),
     false);  // disable LifecycleNode service interfaces
 
   try

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -64,7 +64,7 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
     }
   }
 
-  rclcpp::NodeOptions get_node_options() const override
+  rclcpp::NodeOptions define_custom_node_options() const override
   {
     return rclcpp::NodeOptions()
       .allow_undeclared_parameters(true)

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp
@@ -44,7 +44,7 @@ class TestControllerFailedInit : public controller_interface::ControllerInterfac
       controller_interface::interface_configuration_type::NONE};
   }
 
-  rclcpp::NodeOptions get_node_options() const override
+  rclcpp::NodeOptions define_custom_node_options() const override
   {
     return rclcpp::NodeOptions()
       .allow_undeclared_parameters(true)