From 63dafed98f5f442fd17a1dcc56c5659f84b10978 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 15 Nov 2023 22:26:09 +0100
Subject: [PATCH] update tests to use the new get_node_options API

---
 .../test/test_controller_with_options.hpp        | 15 +++++++++------
 .../test_controller_failed_init.cpp              |  7 -------
 .../test_controller_failed_init.hpp              | 16 +++++++---------
 3 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
index 892ec56f9dd..480b85291bd 100644
--- a/controller_interface/test/test_controller_with_options.hpp
+++ b/controller_interface/test/test_controller_with_options.hpp
@@ -41,13 +41,9 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
 
   controller_interface::return_type init(
     const std::string & controller_name, const std::string & urdf,
-    const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options =
-      rclcpp::NodeOptions()
-        .allow_undeclared_parameters(true)
-        .automatically_declare_parameters_from_overrides(true)) override
+    const std::string & namespace_ = "") override
   {
-    ControllerInterface::init(controller_name, urdf, namespace_, node_options);
+    ControllerInterface::init(controller_name, urdf, namespace_);
 
     switch (on_init())
     {
@@ -68,6 +64,13 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
     }
   }
 
+  rclcpp::NodeOptions get_node_options() const override
+  {
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+  }
+
   controller_interface::InterfaceConfiguration command_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{
diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
index ba762573c72..1b2276bf3ca 100644
--- a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
+++ b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
@@ -31,13 +31,6 @@ TestControllerFailedInit::on_init()
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::FAILURE;
 }
 
-controller_interface::return_type TestControllerFailedInit::init(
-  const std::string & /* controller_name */, const std::string & /* urdf */,
-  const std::string & /*namespace_*/, const rclcpp::NodeOptions & /*node_options*/)
-{
-  return controller_interface::return_type::ERROR;
-}
-
 controller_interface::return_type TestControllerFailedInit::update(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
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
index 69530e40b00..32b2f7a221e 100644
--- 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
@@ -38,21 +38,19 @@ class TestControllerFailedInit : public controller_interface::ControllerInterfac
   CONTROLLER_MANAGER_PUBLIC
   virtual ~TestControllerFailedInit() = default;
 
-  CONTROLLER_INTERFACE_PUBLIC
-  controller_interface::return_type init(
-    const std::string & controller_name, const std::string & urdf,
-    const std::string & namespace_ = "",
-    const rclcpp::NodeOptions & node_options =
-      rclcpp::NodeOptions()
-        .allow_undeclared_parameters(true)
-        .automatically_declare_parameters_from_overrides(true)) override;
-
   controller_interface::InterfaceConfiguration command_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{
       controller_interface::interface_configuration_type::NONE};
   }
 
+  rclcpp::NodeOptions get_node_options() const override
+  {
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+  }
+
   controller_interface::InterfaceConfiguration state_interface_configuration() const override
   {
     return controller_interface::InterfaceConfiguration{