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Add controller node options args to be able to set controller specific node arguments #1713

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Add deprecation notice to remapping args to the controller manager node
saikishor committed Dec 17, 2024
commit 5bd412441a9a28c1386f38f1bc3415e458ba0091
12 changes: 12 additions & 0 deletions controller_manager/src/controller_manager.cpp
Original file line number Diff line number Diff line change
@@ -3464,6 +3464,18 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
node_options_arguments.push_back(arg);
}

// Add deprecation notice if the arguments are from the controller_manager node
if (
check_for_element(node_options_arguments, RCL_REMAP_FLAG) ||
check_for_element(node_options_arguments, RCL_SHORT_REMAP_FLAG))
{
RCLCPP_WARN(
get_logger(),
"The use of remapping arguments to the controller_manager node is deprecated. Please use the "
"'--controller-ros-args' argument of the spawner to pass remapping arguments to the "
"controller node.");
}

for (const auto & parameters_file : controller.info.parameters_files)
{
if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))