fix tests for API break of passing controller manager update rate in init method (#854)

saikishor · web-flow · commit 6d4fb2d9c5dc · 2023-11-20T21:33:01.000Z
diff --git 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, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), 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
@@ -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, "", "", options);
+    auto result = controller_->init(controller_name, "", 0, "", 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
@@ -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, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), 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
@@ -195,15 +195,15 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, 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_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, 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_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, 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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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
@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller", "");
+  const auto result = controller_->init("test_joint_group_effort_controller", "", 0);
   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
@@ -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", "");
+  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "", 0);
   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
@@ -60,7 +60,7 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void ForwardCommandControllerTest::SetUpController()
 {
-  const auto result = controller_->init("forward_command_controller", "");
+  const auto result = controller_->init("forward_command_controller", "", 0);
   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
@@ -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", "");
+  const auto result = controller_->init("multi_interface_forward_command_controller", "", 0);
   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
@@ -60,7 +60,7 @@ void GripperControllerTest<T>::TearDown()
 template <typename T>
 void GripperControllerTest<T>::SetUpController()
 {
-  const auto result = controller_->init("gripper_controller", "");
+  const auto result = controller_->init("gripper_controller", "", 0);
   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
@@ -53,7 +53,7 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {
-  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "");
+  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0);
   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
@@ -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", "");
+  const auto result = state_broadcaster_->init("joint_state_broadcaster", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});
diff --git 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_, "", "", node_options);
+    auto ret = traj_controller_->init(controller_name_, "", 0, "", 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
@@ -54,7 +54,7 @@ void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupPositionControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_position_controller", "");
+  const auto result = controller_->init("test_joint_group_position_controller", "", 0);
   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
@@ -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, "");
+  result = range_broadcaster_->init(broadcaster_name, "", 0);
 
   if (controller_interface::return_type::OK == result)
   {
diff --git 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, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), 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
@@ -173,14 +173,14 @@ class TestTricycleController : public ::testing::Test
 
 TEST_F(TestTricycleController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   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
@@ -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, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), 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
@@ -54,7 +54,7 @@ void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupVelocityControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_velocity_controller", "");
+  const auto result = controller_->init("test_joint_group_velocity_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;

Original file line number	Diff line number	Diff line change
`@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test`
`147`	`147`	`protected:`
`148`	`148`	`void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")`
`149`	`149`	`{`
`150`		`- ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);`
	`150`	`+ ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);`
`151`	`151`
`152`	`152`	`if (position_feedback_ == true)`
`153`	`153`	`{`
Original file line number	Diff line number	Diff line change
`@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test`
`185`	`185`	`controller_interface::return_type SetUpControllerCommon(`
`186`	`186`	`const std::string & controller_name, const rclcpp::NodeOptions & options)`
`187`	`187`	`{`
`188`		`- auto result = controller_->init(controller_name, "", "", options);`
	`188`	`+ auto result = controller_->init(controller_name, "", 0, "", options);`
`189`	`189`
`190`	`190`	`controller_->export_reference_interfaces();`
`191`	`191`	`assign_interfaces();`
Original file line number	Diff line number	Diff line change
`@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test`
`144`	`144`	`protected:`
`145`	`145`	`void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")`
`146`	`146`	`{`
`147`		`- ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);`
	`147`	`+ ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);`
`148`	`148`
`149`	`149`	`if (position_feedback_ == true)`
`150`	`150`	`{`
Original file line number	Diff line number	Diff line change
`@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }`
`54`	`54`
`55`	`55`	`void JointGroupEffortControllerTest::SetUpController()`
`56`	`56`	`{`
`57`		`- const auto result = controller_->init("test_joint_group_effort_controller", "");`
	`57`	`+ const auto result = controller_->init("test_joint_group_effort_controller", "", 0);`
`58`	`58`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`59`	`59`
`60`	`60`	`std::vector<LoanedCommandInterface> command_ifs;`
Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,7 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp`
`53`	`53`
`54`	`54`	`void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()`
`55`	`55`	`{`
`56`		`- const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "");`
	`56`	`+ const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "", 0);`
`57`	`57`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`58`	`58`
`59`	`59`	`std::vector<LoanedStateInterface> state_ifs;`
Original file line number	Diff line number	Diff line change
`@@ -60,7 +60,7 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }`
`60`	`60`
`61`	`61`	`void ForwardCommandControllerTest::SetUpController()`
`62`	`62`	`{`
`63`		`- const auto result = controller_->init("forward_command_controller", "");`
	`63`	`+ const auto result = controller_->init("forward_command_controller", "", 0);`
`64`	`64`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`65`	`65`
`66`	`66`	`std::vector<LoanedCommandInterface> command_ifs;`
Original file line number	Diff line number	Diff line change
`@@ -62,7 +62,7 @@ void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(`
`62`	`62`
`63`	`63`	`void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)`
`64`	`64`	`{`
`65`		`- const auto result = controller_->init("multi_interface_forward_command_controller", "");`
	`65`	`+ const auto result = controller_->init("multi_interface_forward_command_controller", "", 0);`
`66`	`66`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`67`	`67`
`68`	`68`	`std::vector<LoanedCommandInterface> command_ifs;`
Original file line number	Diff line number	Diff line change
`@@ -60,7 +60,7 @@ void GripperControllerTest<T>::TearDown()`
`60`	`60`	`template <typename T>`
`61`	`61`	`void GripperControllerTest<T>::SetUpController()`
`62`	`62`	`{`
`63`		`- const auto result = controller_->init("gripper_controller", "");`
	`63`	`+ const auto result = controller_->init("gripper_controller", "", 0);`
`64`	`64`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`65`	`65`
`66`	`66`	`std::vector<LoanedCommandInterface> command_ifs;`
Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,7 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }`
`53`	`53`
`54`	`54`	`void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()`
`55`	`55`	`{`
`56`		`- const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "");`
	`56`	`+ const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0);`
`57`	`57`	`ASSERT_EQ(result, controller_interface::return_type::OK);`
`58`	`58`
`59`	`59`	`std::vector<LoanedStateInterface> state_ifs;`