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Controller interface api update to ros2_controller packages #1973

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3cc78c5
tricycle_controller updated with controller_interface migration
Nandostream11 Oct 24, 2025
64ce8b2
ackermann_steering_controller updated with controller_interface migra…
Nandostream11 Oct 24, 2025
163a581
admittance_controller updated with controller_interface migration
Nandostream11 Oct 24, 2025
fce9bae
bicycle_steering_controller updated with controller_interface migration
Nandostream11 Oct 24, 2025
26b37b6
chained_filter, diff_drive, effort, forward_command, etc files update…
Nandostream11 Oct 24, 2025
bb48631
bug resolved
Nandostream11 Oct 25, 2025
a0c5310
Format code with clang-format and fix trailing whitespace by pre-commit
Nandostream11 Oct 25, 2025
84fadca
gpio_controllers test params struct fixturised
Nandostream11 Oct 30, 2025
e1d3bee
removed default args from createDefaultParams() calls
Nandostream11 Oct 30, 2025
3ed0cc8
snake_casing the struct, refactored gps_sensor_broadcaster
Nandostream11 Nov 1, 2025
15312ee
Merge branch 'ros-controls:master' into controller-interface-api-update
Nandostream11 Nov 1, 2025
82ed8f5
param creator methods name-> create_ctrl_params
Nandostream11 Nov 3, 2025
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10 changes: 7 additions & 3 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
9 changes: 7 additions & 2 deletions admittance_controller/test/test_admittance_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand Down
10 changes: 7 additions & 3 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
17 changes: 14 additions & 3 deletions chained_filter_controller/test/test_chained_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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);
}

Expand Down
8 changes: 7 additions & 1 deletion chained_filter_controller/test/test_multiple_chained_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
18 changes: 14 additions & 4 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Expand Up @@ -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;
Expand Down Expand Up @@ -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);
}

Expand Down
9 changes: 7 additions & 2 deletions effort_controllers/test/test_joint_group_effort_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
9 changes: 7 additions & 2 deletions force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
9 changes: 7 additions & 2 deletions forward_command_controller/test/test_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
9 changes: 7 additions & 2 deletions forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
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