diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
index e7f3a6b345..13749ad980 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -133,9 +133,13 @@ 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_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), 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 2288f675fd..4ed178fa1e 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -160,8 +160,13 @@ 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, controller_->robot_description_, 0, "", options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = controller_->robot_description_;
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = options;
+    auto result = controller_->init(params);
 
     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 d594bef3e9..dfe07b294b 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -131,9 +131,13 @@ 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_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/chained_filter_controller/test/test_chained_filter.cpp b/chained_filter_controller/test/test_chained_filter.cpp
index 32ff4ffd38..c0ca7982c3 100644
--- a/chained_filter_controller/test/test_chained_filter.cpp
+++ b/chained_filter_controller/test/test_chained_filter.cpp
@@ -48,7 +48,13 @@ void ChainedFilterTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result = controller_->init(node_name, "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
@@ -61,8 +67,13 @@ TEST_F(ChainedFilterTest, InitReturnsSuccess) { SetUpController(); }
 
 TEST_F(ChainedFilterTest, InitFailureWithNoParams)
 {
-  const auto result = controller_->init(
-    "test_chained_filter_no_params", "", 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_chained_filter_no_params";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+  const auto result = controller_->init(params);
   EXPECT_EQ(result, controller_interface::return_type::ERROR);
 }
 
diff --git a/chained_filter_controller/test/test_multiple_chained_filter.cpp b/chained_filter_controller/test/test_multiple_chained_filter.cpp
index c29d52feed..31848d9b04 100644
--- a/chained_filter_controller/test/test_multiple_chained_filter.cpp
+++ b/chained_filter_controller/test/test_multiple_chained_filter.cpp
@@ -48,7 +48,13 @@ void MultipleChainedFilterTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result = controller_->init(node_name, "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 250d434405..49a7493e42 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -206,8 +206,13 @@ class TestDiffDriveController : public ::testing::Test
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
-
-    return controller_->init(controller_name, urdf_, 0, ns, node_options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = urdf_;
+    params.update_rate = 0;
+    params.node_namespace = ns;
+    params.node_options = node_options;
+    return controller_->init(params);
   }
 
   std::string controller_name;
@@ -243,8 +248,13 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, init_fails_without_parameters)
 {
-  const auto ret =
-    controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = controller_name;
+  params.robot_description = urdf_;
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+  const auto ret = controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index 0a74913ebb..83a576a16d 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -42,8 +42,13 @@ void JointGroupEffortControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result =
-    controller_->init("test_joint_group_effort_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_joint_group_effort_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   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 3c36ece783..c1f24fa51b 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
@@ -54,8 +54,13 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster(std::string node_name)
 {
-  const auto result =
-    fts_broadcaster_->init(node_name, "", 0, "", fts_broadcaster_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = node_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = fts_broadcaster_->define_custom_node_options();
+  const auto result = fts_broadcaster_->init(params);
   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 75bb97d18b..4cf7532e1e 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -54,8 +54,13 @@ void ForwardCommandControllerTest::SetUpController(
 {
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
-
-  const auto result = controller_->init("forward_command_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "forward_command_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   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 e4f6a5b735..a1fd896418 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
@@ -65,8 +65,13 @@ void MultiInterfaceForwardCommandControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameter_overrides);
 
-  const auto result =
-    controller_->init("multi_interface_forward_command_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "multi_interface_forward_command_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/gpio_controllers/test/test_gpio_command_controller.cpp b/gpio_controllers/test/test_gpio_command_controller.cpp
index 24190edc01..f3d8eeda55 100644
--- a/gpio_controllers/test/test_gpio_command_controller.cpp
+++ b/gpio_controllers/test/test_gpio_command_controller.cpp
@@ -199,6 +199,17 @@ class GpioCommandControllerTestSuite : public ::testing::Test
 
   std::unique_ptr<FriendGpioCommandController> controller_;
 
+  controller_interface::ControllerInterfaceParams create_ctrl_params(
+    const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
+  {
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = "test_gpio_command_controller";
+    params.robot_description = robot_description;
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = node_options;
+    return params;
+  }
   const std::vector<std::string> gpio_names{"gpio1", "gpio2"};
   std::vector<double> gpio_commands{1.0, 0.0, 3.1};
   std::vector<double> gpio_states{1.0, 0.0, 3.1};
@@ -221,9 +232,8 @@ class GpioCommandControllerTestSuite : public ::testing::Test
 
 TEST_F(GpioCommandControllerTestSuite, WhenNoParametersAreSetInitShouldFail)
 {
-  const auto result = controller_->init(
-    "test_gpio_command_controller", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    controller_->define_custom_node_options());
+  const auto result = controller_->init(create_ctrl_params(
+    controller_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::ERROR);
 }
 
@@ -231,7 +241,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenGpiosParameterIsEmptyInitShouldFail)
 {
   const auto node_options =
     create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::ERROR);
 }
@@ -242,7 +252,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsEmptyInit
     {{"gpios", std::vector<std::string>{"gpio1"}},
      {"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
 }
@@ -251,7 +261,7 @@ TEST_F(GpioCommandControllerTestSuite, WhenInterfacesParameterForGpioIsNotSetIni
 {
   const auto node_options =
     create_node_options_with_overriden_parameters({{"gpios", std::vector<std::string>{"gpio1"}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
 }
@@ -267,7 +277,7 @@ TEST_F(
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
 
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
   ASSERT_EQ(result, controller_interface::return_type::OK);
 }
 
@@ -280,8 +290,7 @@ TEST_F(
      {"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
   const auto result = controller_->init(
-    "test_gpio_command_controller", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
@@ -294,8 +303,8 @@ TEST_F(
     {{"gpios", std::vector<std::string>{"gpio1"}},
      {"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
-  const auto result = controller_->init(
-    "test_gpio_command_controller", minimal_robot_urdf_with_gpio, 0, "", node_options);
+  const auto result =
+    controller_->init(create_ctrl_params(node_options, minimal_robot_urdf_with_gpio));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -309,7 +318,7 @@ TEST_F(
     {{"gpios", std::vector<std::string>{"gpio1"}},
      {"command_interfaces.gpio1.interfaces", std::vector<std::string>{}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -323,7 +332,7 @@ TEST_F(GpioCommandControllerTestSuite, ConfigureAndActivateParamsSuccess)
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -341,7 +350,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -369,7 +378,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -398,7 +407,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  const auto result = controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result = controller_->init(create_ctrl_params(node_options));
 
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -428,8 +437,7 @@ TEST_F(
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
 
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
   assert_default_command_and_state_values();
   update_controller_loop();
   assert_default_command_and_state_values();
@@ -445,8 +453,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0, 1.0}),
@@ -467,8 +474,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"},
@@ -489,8 +495,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0}),
@@ -513,8 +518,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command = createGpioCommand(
     {"gpio2", "gpio1"}, {createInterfaceValue({"ana.1"}, {30.0}),
@@ -537,8 +541,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command =
     createGpioCommand({"gpio1"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0})});
@@ -560,8 +563,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio3"}, {createInterfaceValue({"dig.3", "dig.4"}, {20.0, 25.0}),
@@ -584,8 +586,7 @@ TEST_F(
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   auto command_pub = node->create_publisher<CmdType>(
     std::string(controller_->get_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
@@ -609,8 +610,7 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
      {"command_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}},
      {"state_interfaces.gpio1.interfaces", std::vector<std::string>{"dig.1", "dig.2"}},
      {"state_interfaces.gpio2.interfaces", std::vector<std::string>{"ana.1"}}});
-  move_to_activate_state(
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options));
+  move_to_activate_state(controller_->init(create_ctrl_params(node_options)));
 
   auto subscription = node->create_subscription<StateType>(
     std::string(controller_->get_node()->get_name()) + "/gpio_states", 10,
@@ -649,8 +649,8 @@ TEST_F(
   state_interfaces.emplace_back(gpio_1_1_dig_state, nullptr);
   state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
 
-  const auto result_of_initialization = controller_->init(
-    "test_gpio_command_controller", minimal_robot_urdf_with_gpio, 0, "", node_options);
+  const auto result_of_initialization =
+    controller_->init(create_ctrl_params(node_options, minimal_robot_urdf_with_gpio));
   ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   controller_->assign_interfaces(std::move(command_interfaces), std::move(state_interfaces));
@@ -684,9 +684,7 @@ TEST_F(
   std::vector<LoanedStateInterface> state_interfaces;
   state_interfaces.emplace_back(gpio_1_1_dig_state, nullptr);
   state_interfaces.emplace_back(gpio_2_ana_state, nullptr);
-
-  const auto result_of_initialization =
-    controller_->init("test_gpio_command_controller", "", 0, "", node_options);
+  const auto result_of_initialization = controller_->init(create_ctrl_params(node_options));
   ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   controller_->assign_interfaces({}, std::move(state_interfaces));
diff --git a/gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp b/gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp
index ccc0c6dcc4..d3bb1773d7 100644
--- a/gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp
+++ b/gps_sensor_broadcaster/test/test_gps_sensor_broadcaster.cpp
@@ -105,6 +105,18 @@ class GPSSensorBroadcasterTest : public ::testing::Test
     return gps_msg;
   }
 
+  controller_interface::ControllerInterfaceParams create_ctrl_params(
+    const rclcpp::NodeOptions & node_options, const std::string & robot_description = "")
+  {
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = "test_gps_sensor_broadcaster";
+    params.robot_description = robot_description;
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = node_options;
+    return params;
+  }
+
 protected:
   const rclcpp::Parameter sensor_name_param_ = rclcpp::Parameter("sensor_name", "gps_sensor");
   const std::string sensor_name_ = sensor_name_param_.get_value<std::string>();
@@ -140,9 +152,8 @@ class GPSSensorBroadcasterTest : public ::testing::Test
 
 TEST_F(GPSSensorBroadcasterTest, whenNoParamsAreSetThenInitShouldFail)
 {
-  const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    gps_broadcaster_->define_custom_node_options());
+  const auto result = gps_broadcaster_->init(create_ctrl_params(
+    gps_broadcaster_->define_custom_node_options(), ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::ERROR);
 }
 
@@ -150,8 +161,7 @@ TEST_F(GPSSensorBroadcasterTest, whenOnlySensorNameIsSetThenInitShouldFail)
 {
   const auto node_options = create_node_options_with_overriden_parameters({sensor_name_param_});
   const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::ERROR);
 }
 
@@ -162,8 +172,7 @@ TEST_F(
   const auto node_options =
     create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
   const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(
     gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -177,8 +186,7 @@ TEST_F(
   const auto node_options =
     create_node_options_with_overriden_parameters({sensor_name_param_, frame_id_});
   const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(
     gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -209,8 +217,7 @@ TEST_F(
      {"static_position_covariance",
       std::vector<double>{static_covariance.begin(), static_covariance.end()}}});
   const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(
     gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
@@ -236,9 +243,9 @@ TEST_F(
 {
   const auto node_options = create_node_options_with_overriden_parameters(
     {sensor_name_param_, frame_id_, {"read_covariance_from_interface", true}});
+
   const auto result = gps_broadcaster_->init(
-    "test_gps_sensor_broadcaster", ros2_control_test_assets::minimal_robot_urdf, 0, "",
-    node_options);
+    create_ctrl_params(node_options, ros2_control_test_assets::minimal_robot_urdf));
   ASSERT_EQ(result, controller_interface::return_type::OK);
   ASSERT_EQ(
     gps_broadcaster_->on_configure(rclcpp_lifecycle::State()), callback_return_type::SUCCESS);
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index 2246e69b43..daf0b7f89a 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -59,9 +59,13 @@ void IMUSensorBroadcasterTest::SetUpIMUBroadcaster(
 {
   auto node_options = imu_broadcaster_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
-
-  const auto result =
-    imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_imu_sensor_broadcaster";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = imu_broadcaster_->init(params);
   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 58a34d7aa8..d5c01625b6 100644
--- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -70,9 +70,13 @@ void JointStateBroadcasterTest::init_broadcaster_and_set_parameters(
   const std::string & robot_description, const std::vector<std::string> & joint_names,
   const std::vector<std::string> & interfaces)
 {
-  const auto result = state_broadcaster_->init(
-    "joint_state_broadcaster", robot_description, 0, "",
-    state_broadcaster_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "joint_state_broadcaster";
+  params.robot_description = robot_description;
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = state_broadcaster_->define_custom_node_options();
+  const auto result = state_broadcaster_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});
@@ -952,8 +956,13 @@ TEST_F(JointStateBroadcasterTest, UpdateTest)
 
 TEST_F(JointStateBroadcasterTest, UpdatePerformanceTest)
 {
-  const auto result = state_broadcaster_->init(
-    "joint_state_broadcaster", "", 0, "", state_broadcaster_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "joint_state_broadcaster";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = state_broadcaster_->define_custom_node_options();
+  const auto result = state_broadcaster_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   custom_joint_value_ = 12.34;
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index ef3c8b8054..5b7da75390 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -284,8 +284,13 @@ class TrajectoryControllerTest : public ::testing::Test
     node_options.parameter_overrides(parameter_overrides);
     traj_controller_->set_node_options(node_options);
 
-    return traj_controller_->init(
-      controller_name_, urdf, 100, "", traj_controller_->define_custom_node_options());
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name_;
+    params.robot_description = urdf;
+    params.update_rate = 100;
+    params.node_namespace = "";
+    params.node_options = traj_controller_->define_custom_node_options();
+    return traj_controller_->init(params);
   }
 
   void SetPidParameters(double p_value = 0.0, double ff_value = 1.0)
diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp b/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
index 4c9cad780b..c519e00eb0 100644
--- a/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
+++ b/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
@@ -173,10 +173,13 @@ class MecanumDriveControllerFixture : public ::testing::Test
     const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions(), const std::string ns = "")
   {
     const auto urdf = "";
-
-    ASSERT_EQ(
-      controller_->init(controller_name, urdf, 0, ns, node_options),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = urdf;
+    params.update_rate = 0;
+    params.node_namespace = ns;
+    params.node_options = node_options;
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
     command_itfs_.reserve(joint_command_values_.size());
diff --git a/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp
index 3030e74d42..52b53ff486 100644
--- a/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp
+++ b/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp
@@ -78,11 +78,13 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test
   void SetUp() override
   {
     controller_ = std::make_unique<CtrlType>();
-    ASSERT_EQ(
-      controller_->init(
-        "test_motion_primitives_forward_controller", "", 0, "",
-        controller_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = "test_motion_primitives_forward_controller";
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     node_ = std::make_shared<rclcpp::Node>("test_node");
 
diff --git a/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp b/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp
index d94d201378..a4214e3ac1 100644
--- a/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp
+++ b/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp
@@ -26,8 +26,14 @@ class OmniWheelDriveControllerTest
 
 TEST_F(OmniWheelDriveControllerTest, init_fails_without_parameters)
 {
-  const auto ret =
-    controller_->init(controller_name_, urdf_, 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = controller_name_;
+  params.robot_description = urdf_;
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+
+  const auto ret = controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 
diff --git a/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.hpp b/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.hpp
index 896d76b911..649d9f65e0 100644
--- a/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.hpp
+++ b/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.hpp
@@ -227,7 +227,13 @@ class OmniWheelDriveControllerFixture : public ::testing::Test
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
 
-    return controller_->init(controller_name_, urdf_, 0, ns, node_options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name_;
+    params.robot_description = urdf_;
+    params.update_rate = 0;
+    params.node_namespace = ns;
+    params.node_options = node_options;
+    return controller_->init(params);
   }
 
   std::vector<double> wheels_pos_states_ = {1, 1, 1, 1};
diff --git a/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
index 1af3576462..bbe99c7b46 100644
--- a/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
+++ b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
@@ -50,8 +50,14 @@ void GripperControllerTest::SetUpController(
   const std::string & controller_name = "test_gripper_action_position_controller",
   controller_interface::return_type expected_result = controller_interface::return_type::OK)
 {
-  const auto result =
-    controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = controller_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, expected_result);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
index 3efb170af5..5d2afc9871 100644
--- a/pid_controller/test/test_pid_controller.hpp
+++ b/pid_controller/test/test_pid_controller.hpp
@@ -151,9 +151,13 @@ class PidControllerFixture : public ::testing::Test
     command_publisher_ = command_publisher_node_->create_publisher<ControllerCommandMsg>(
       "/" + controller_name + "/reference", rclcpp::SystemDefaultsQoS());
 
-    ASSERT_EQ(
-      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
     command_itfs_.reserve(dof_names_.size());
diff --git a/pose_broadcaster/test/test_pose_broadcaster.cpp b/pose_broadcaster/test/test_pose_broadcaster.cpp
index 6006cae8b4..737661ac78 100644
--- a/pose_broadcaster/test/test_pose_broadcaster.cpp
+++ b/pose_broadcaster/test/test_pose_broadcaster.cpp
@@ -26,10 +26,14 @@ void PoseBroadcasterTest::TearDown() { pose_broadcaster_.reset(nullptr); }
 
 void PoseBroadcasterTest::SetUpPoseBroadcaster()
 {
-  ASSERT_EQ(
-    pose_broadcaster_->init(
-      "test_pose_broadcaster", "", 0, "", pose_broadcaster_->define_custom_node_options()),
-    controller_interface::return_type::OK);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_pose_broadcaster";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = pose_broadcaster_->define_custom_node_options();
+
+  ASSERT_EQ(pose_broadcaster_->init(params), controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_interfaces;
   state_interfaces.emplace_back(pose_position_x_, nullptr);
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
index bf0d315bac..d0125c7e14 100644
--- a/position_controllers/test/test_joint_group_position_controller.cpp
+++ b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -42,8 +42,13 @@ void JointGroupPositionControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result =
-    controller_->init("test_joint_group_position_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_joint_group_position_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   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 e2fa00685f..93aae56ac6 100644
--- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
+++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -39,8 +39,14 @@ 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, "", range_broadcaster_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = broadcaster_name;
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = range_broadcaster_->define_custom_node_options();
+
+  result = range_broadcaster_->init(params);
 
   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
index e1b22ae0fa..30b8e36bec 100644
--- a/steering_controllers_library/test/test_steering_controllers_library.hpp
+++ b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -153,9 +153,13 @@ 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_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), 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 583f086412..545283d5f2 100644
--- a/tricycle_controller/test/test_tricycle_controller.cpp
+++ b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -168,7 +168,13 @@ class TestTricycleController : public ::testing::Test
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
 
-    return controller_->init(controller_name, urdf_, 0, "", node_options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = urdf_;
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = node_options;
+    return controller_->init(params);
   }
 
   const std::string controller_name = "test_tricycle_controller";
@@ -201,8 +207,14 @@ class TestTricycleController : public ::testing::Test
 
 TEST_F(TestTricycleController, init_fails_without_parameters)
 {
-  const auto ret =
-    controller_->init(controller_name, urdf_, 0, "", controller_->define_custom_node_options());
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "controller_name";
+  params.robot_description = urdf_;
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = controller_->define_custom_node_options();
+
+  const auto ret = controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
index 8517773e96..91597ea89d 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -132,9 +132,13 @@ 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_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), 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 de138571af..718de55dee 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -42,8 +42,13 @@ void JointGroupVelocityControllerTest::SetUpController(
   auto node_options = controller_->define_custom_node_options();
   node_options.parameter_overrides(parameters);
 
-  const auto result =
-    controller_->init("test_joint_group_velocity_controller", "", 0, "", node_options);
+  controller_interface::ControllerInterfaceParams params;
+  params.controller_name = "test_joint_group_velocity_controller";
+  params.robot_description = "";
+  params.update_rate = 0;
+  params.node_namespace = "";
+  params.node_options = node_options;
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;