Avoid using the global arguments for internal controller nodes (#1694)

ros-controls · Aug 19, 2024 · 4498d25 · 4498d25
1 parent 079392b
commit 4498d25
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Showing 2 changed files with 12 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
@@ -174,11 +174,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   {
 // \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 21
-    return rclcpp::NodeOptions().enable_logger_service(true);
+    return rclcpp::NodeOptions().enable_logger_service(true).use_global_arguments(false);
 #else
     return rclcpp::NodeOptions()
       .allow_undeclared_parameters(true)
-      .automatically_declare_parameters_from_overrides(true);
+      .automatically_declare_parameters_from_overrides(true)
+      .use_global_arguments(false);
 #endif
   }
 

diff --git a/controller_interface/test/test_controller_interface.cpp b/controller_interface/test/test_controller_interface.cpp
@@ -16,6 +16,8 @@
 
 #include <gmock/gmock.h>
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "rclcpp/executor_options.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
@@ -57,13 +59,16 @@ TEST(TestableControllerInterface, init)
 TEST(TestableControllerInterface, setting_update_rate_in_configure)
 {
   // mocks the declaration of overrides parameters in a yaml file
-  char const * const argv[] = {"", "--ros-args", "-p", "update_rate:=2812"};
-  int argc = arrlen(argv);
-  rclcpp::init(argc, argv);
+  rclcpp::init(0, nullptr);
 
   TestableControllerInterface controller;
   // initialize, create node
-  const auto node_options = controller.define_custom_node_options();
+  auto node_options = controller.define_custom_node_options();
+  std::vector<std::string> node_options_arguments = node_options.arguments();
+  node_options_arguments.push_back("--ros-args");
+  node_options_arguments.push_back("-p");
+  node_options_arguments.push_back("update_rate:=2812");
+  node_options = node_options.arguments(node_options_arguments);
   ASSERT_EQ(
     controller.init(TEST_CONTROLLER_NAME, "", 1.0, "", node_options),
     controller_interface::return_type::OK);