diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
index a2849d5742..8af2f6bc94 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index 19908d7f9f..8888cd700a 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", 0, "", options);
+    auto result = controller_->init(controller_name, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
index 521506762b..34d6883a83 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index eb970d34a3..c7881df8ff 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -195,7 +195,7 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -203,7 +203,7 @@ TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 
 TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -223,7 +223,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_sid
 
 TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -239,7 +239,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size
 
 TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -259,7 +259,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -292,7 +292,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -327,7 +327,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -363,7 +363,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
+  const auto ret = controller_->init(controller_name, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -398,7 +398,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
+  const auto ret = controller_->init(controller_name, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -435,7 +435,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
+  const auto ret = controller_->init(controller_name, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -469,7 +469,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -483,7 +483,7 @@ TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -499,7 +499,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -516,7 +516,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -533,7 +533,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -550,7 +550,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 
 TEST_F(TestDiffDriveController, cleanup)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -599,7 +599,7 @@ TEST_F(TestDiffDriveController, cleanup)
 
 TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index f9d72ab202..23555c578f 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller", "", 0);
+  const auto result = controller_->init("test_joint_group_effort_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
index bfe7561642..82f677410e 100644
--- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
+++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -53,7 +53,7 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
 {
-  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "", 0);
+  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
index 62d5512b4e..1a2a545a98 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -60,7 +60,7 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void ForwardCommandControllerTest::SetUpController()
 {
-  const auto result = controller_->init("forward_command_controller", "", 0);
+  const auto result = controller_->init("forward_command_controller", "", rclcpp::NodeOptions());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
index 7826c85355..80aae0e901 100644
--- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -62,7 +62,7 @@ void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(
 
 void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)
 {
-  const auto result = controller_->init("multi_interface_forward_command_controller", "", 0);
+  const auto result = controller_->init("multi_interface_forward_command_controller", "", rclcpp::NodeOptions());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
index 0fc10c0c73..e94926113f 100644
--- a/gripper_controllers/test/test_gripper_controllers.cpp
+++ b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -60,7 +60,7 @@ void GripperControllerTest<T>::TearDown()
 template <typename T>
 void GripperControllerTest<T>::SetUpController()
 {
-  const auto result = controller_->init("gripper_controller", "", 0);
+  const auto result = controller_->init("gripper_controller", "", rclcpp::NodeOptions());
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index 0fb987ce77..0b782efc5f 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -53,7 +53,7 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {
-  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0);
+  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
index 3a74f599b4..a6c0708fd9 100644
--- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -69,7 +69,7 @@ void JointStateBroadcasterTest::SetUpStateBroadcaster(
 void JointStateBroadcasterTest::init_broadcaster_and_set_parameters(
   const std::vector<std::string> & joint_names, const std::vector<std::string> & interfaces)
 {
-  const auto result = state_broadcaster_->init("joint_state_broadcaster", "", 0);
+  const auto result = state_broadcaster_->init("joint_state_broadcaster", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
index 3bd4873a31..3f30d4c804 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp
@@ -154,6 +154,7 @@ class Trajectory
   rclcpp::Time time_before_traj_msg_;
   trajectory_msgs::msg::JointTrajectoryPoint state_before_traj_msg_;
 
+  size_t previous_start_idx_;
   bool sampled_already_ = false;
 };
 
diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp
index fae4c41ff9..8430e661cb 100644
--- a/joint_trajectory_controller/src/trajectory.cpp
+++ b/joint_trajectory_controller/src/trajectory.cpp
@@ -55,6 +55,7 @@ void Trajectory::update(std::shared_ptr<trajectory_msgs::msg::JointTrajectory> j
   trajectory_msg_ = joint_trajectory;
   trajectory_start_time_ = static_cast<rclcpp::Time>(joint_trajectory->header.stamp);
   sampled_already_ = false;
+  previous_start_idx_ = 0;
 }
 
 bool Trajectory::sample(
@@ -80,6 +81,7 @@ bool Trajectory::sample(
       trajectory_start_time_ = sample_time;
     }
 
+    previous_start_idx_ = 0;
     sampled_already_ = true;
   }
 
@@ -120,7 +122,7 @@ bool Trajectory::sample(
 
   // time_from_start + trajectory time is the expected arrival time of trajectory
   const auto last_idx = trajectory_msg_->points.size() - 1;
-  for (size_t i = 0; i < last_idx; ++i)
+  for (size_t i = previous_start_idx_; i < last_idx; ++i)
   {
     auto & point = trajectory_msg_->points[i];
     auto & next_point = trajectory_msg_->points[i + 1];
@@ -146,6 +148,7 @@ bool Trajectory::sample(
       }
       start_segment_itr = begin() + i;
       end_segment_itr = begin() + (i + 1);
+      previous_start_idx_ = i;
       return true;
     }
   }
diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp
index b52aa67a04..e4701a9175 100644
--- a/joint_trajectory_controller/test/test_trajectory.cpp
+++ b/joint_trajectory_controller/test/test_trajectory.cpp
@@ -821,3 +821,68 @@ TEST(TestTrajectory, skip_interpolation)
     }
   }
 }
+
+TEST(TestTrajectory, check_index_increment){
+  auto full_msg = std::make_shared<trajectory_msgs::msg::JointTrajectory>();
+  full_msg->header.stamp = rclcpp::Time(0);
+
+  trajectory_msgs::msg::JointTrajectoryPoint p1;
+  p1.positions.push_back(1.0);
+  p1.time_from_start = rclcpp::Duration::from_seconds(1.0);
+  full_msg->points.push_back(p1);
+
+  trajectory_msgs::msg::JointTrajectoryPoint p2;
+  p2.positions.push_back(2.0);
+  p2.time_from_start = rclcpp::Duration::from_seconds(2.0);
+  full_msg->points.push_back(p2);
+
+  trajectory_msgs::msg::JointTrajectoryPoint p3;
+  p3.positions.push_back(3.0);
+  p3.time_from_start = rclcpp::Duration::from_seconds(3.0);
+  full_msg->points.push_back(p3);
+
+  trajectory_msgs::msg::JointTrajectoryPoint point_before_msg;
+  point_before_msg.time_from_start = rclcpp::Duration::from_seconds(0.0);
+  point_before_msg.positions.push_back(0.0);
+
+  // set current state before trajectory msg was sent
+  const rclcpp::Time time_now = rclcpp::Clock().now();
+  auto traj = joint_trajectory_controller::Trajectory(time_now, point_before_msg, full_msg);
+
+  trajectory_msgs::msg::JointTrajectoryPoint expected_state;
+  joint_trajectory_controller::TrajectoryPointConstIter start, end;
+
+  double duration_first_seg = 1.0;
+  double velocity = (p1.positions[0] - point_before_msg.positions[0]) / duration_first_seg;
+  // sample trajectory before starting time
+  {
+    bool result = traj.sample(
+      time_now - rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start,
+      end);
+    RCLCPP_INFO_STREAM(rclcpp::get_logger("test"), "ASSERTING");
+    ASSERT_EQ(result, false);
+  }
+  
+  // sample at trajectory starting time
+  {
+    traj.sample(time_now, DEFAULT_INTERPOLATION, expected_state, start, end);
+    ASSERT_EQ(traj.begin(), start);
+    ASSERT_EQ(traj.begin(), end);
+  }
+
+  // sample .5s into trajectory - should increment end iterator
+  {
+    traj.sample(time_now + rclcpp::Duration::from_seconds(0.5), DEFAULT_INTERPOLATION, expected_state, start,
+      end);
+    ASSERT_EQ(traj.begin(), start);
+    ASSERT_EQ(traj.begin() + 1, end);
+  }
+
+  // sample 1.5s into trajectory - should increment both iterators
+  {
+    traj.sample(time_now + rclcpp::Duration::from_seconds(1.5), DEFAULT_INTERPOLATION, expected_state, start,
+      end);
+    ASSERT_EQ(traj.begin() + 1, start);
+    ASSERT_EQ(traj.begin() + 2, end);
+  }
+}
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 3a7e7e5cf1..46e3d45e29 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -196,7 +196,7 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
 
-    auto ret = traj_controller_->init(controller_name_, "", 0, "", node_options);
+    auto ret = traj_controller_->init(controller_name_, "", node_options);
     if (ret != controller_interface::return_type::OK)
     {
       FAIL();
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
index 3b4f00be12..07f42e4eba 100644
--- a/position_controllers/test/test_joint_group_position_controller.cpp
+++ b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupPositionControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_position_controller", "", 0);
+  const auto result = controller_->init("test_joint_group_position_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
index a857141ea9..ab937146cb 100644
--- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
+++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -34,7 +34,7 @@ controller_interface::return_type RangeSensorBroadcasterTest::init_broadcaster(
   std::string broadcaster_name)
 {
   controller_interface::return_type result = controller_interface::return_type::ERROR;
-  result = range_broadcaster_->init(broadcaster_name, "", 0);
+  result = range_broadcaster_->init(broadcaster_name, "");
 
   if (controller_interface::return_type::OK == result)
   {
diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/__pycache__/__init__.cpython-310.pyc b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000000..39f76b8e22
Binary files /dev/null and b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/__pycache__/__init__.cpython-310.pyc differ
diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/__pycache__/__init__.cpython-310.pyc b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000000..d42b209cc6
Binary files /dev/null and b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/__pycache__/__init__.cpython-310.pyc differ
diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
index 5caf347ac1..fd6399831b 100644
--- a/steering_controllers_library/test/test_steering_controllers_library.hpp
+++ b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -168,7 +168,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_steering_controllers_library")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", rclcpp::NodeOptions()), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
index 504ca381ce..f5f3ccb084 100644
--- a/tricycle_controller/test/test_tricycle_controller.cpp
+++ b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -173,14 +173,14 @@ class TestTricycleController : public ::testing::Test
 
 TEST_F(TestTricycleController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -200,7 +200,7 @@ TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side
 
 TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -213,7 +213,7 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 
 TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -227,7 +227,7 @@ TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 
 TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -243,7 +243,7 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 
 TEST_F(TestTricycleController, cleanup)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -292,7 +292,7 @@ TEST_F(TestTricycleController, cleanup)
 
 TEST_F(TestTricycleController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_, 0);
+  const auto ret = controller_->init(controller_name, urdf_, rclcpp::NodeOptions());
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
index c5f6985d4e..e9d1023d98 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -146,7 +146,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_tricycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
index 4cbf1b7342..185c630bc9 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupVelocityControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_velocity_controller", "", 0);
+  const auto result = controller_->init("test_joint_group_velocity_controller", "");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;