From 6b0438f4b07e0b0467bb558a37a9b9cad7e1ae59 Mon Sep 17 00:00:00 2001
From: Antonio Cuadros <acuadros1995@gmail.com>
Date: Wed, 3 Nov 2021 08:52:40 +0100
Subject: [PATCH 1/2] Update domain id API

---
 e2studio_project_freeRTOS/src/net_thread_entry.c  | 12 +++++++-----
 .../client_tests/CustomTypeIntrospection.c        | 12 +++++++-----
 .../client_tests/Domain.c                         | 10 ++++++----
 .../client_tests/EntitiesQoS.c                    | 11 ++++++-----
 .../client_tests/EntityCreation.c                 | 10 ++++++----
 .../client_tests/EntityDestruction.c              | 10 ++++++----
 .../client_tests/MultiplePublisherProfiling.c     | 12 +++++++-----
 .../client_tests/Parameters.c                     | 12 +++++++-----
 .../client_tests/Ping.c                           | 14 ++++++++------
 .../client_tests/Publisher.c                      | 14 ++++++++------
 .../client_tests/PublisherContinousFragment.c     | 15 +++++++++------
 .../client_tests/PublisherRate.c                  | 14 ++++++++------
 .../client_tests/RTT.c                            | 15 +++++++++------
 .../client_tests/ServiceClient.c                  | 14 ++++++++------
 .../client_tests/ServiceServer.c                  | 14 ++++++++------
 .../client_tests/SinglePublisherProfiling.c       | 14 ++++++++------
 .../client_tests/Subscriber.c                     | 14 ++++++++------
 .../client_tests/Throughput.c                     | 15 +++++++++------
 .../client_tests/TimeSync.c                       | 12 +++++++-----
 19 files changed, 142 insertions(+), 102 deletions(-)

diff --git a/e2studio_project_freeRTOS/src/net_thread_entry.c b/e2studio_project_freeRTOS/src/net_thread_entry.c
index 661ec4ca..b7f4e846 100644
--- a/e2studio_project_freeRTOS/src/net_thread_entry.c
+++ b/e2studio_project_freeRTOS/src/net_thread_entry.c
@@ -132,13 +132,15 @@ void send_micro_ros_profiling_data(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "profiling_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "profiling_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c b/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
index de03cdaf..3755c336 100644
--- a/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
+++ b/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
@@ -19,13 +19,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/Domain.c b/test/micro_ros_renesas_testbench/client_tests/Domain.c
index a4253924..d667f43e 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Domain.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Domain.c
@@ -36,13 +36,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
 	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
 	// create publisher
 	rclc_publisher_init_default(
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c b/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
index 78731407..033c04b2 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
@@ -16,14 +16,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
 	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
-
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher reliable
     rcl_publisher_t publisher_reliable;
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c b/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
index af6bcef9..cf107921 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
@@ -18,7 +18,11 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     rcl_node_t nodes[ENTITY_NUMBER];
@@ -29,9 +33,7 @@ void microros_app(void)
         snprintf(buf_namespace, 100, "ns_%d", i);
 
         // create node
-        rcl_node_options_t node_ops = rcl_node_get_default_options();
-        node_ops.domain_id = (size_t)(DOMAIN_ID);
-	    rclc_node_init_with_options(&nodes[i], buf_name, buf_namespace, &support, &node_ops);
+	    rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
     }
 
     // create publishers
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c b/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
index b0863829..4e3aaa2c 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
@@ -31,7 +31,11 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
+
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     for(size_t i = 0; i < ENTITY_NUMBER; i++){
@@ -41,9 +45,7 @@ void microros_app(void)
         snprintf(buf_namespace, 100, "ns_%d", i);
 
         // create node
-        rcl_node_options_t node_ops = rcl_node_get_default_options();
-        node_ops.domain_id = (size_t)(DOMAIN_ID);
-        rclc_node_init_with_options(&nodes[i], buf_name, buf_namespace, &support, &node_ops);
+        rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
     }
 
     // create publishers
diff --git a/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c b/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
index fb685e18..5c7dbe2e 100644
--- a/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
+++ b/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
@@ -27,13 +27,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publishers
     rcl_publisher_t publishers[ENTITY_NUMBER];
diff --git a/test/micro_ros_renesas_testbench/client_tests/Parameters.c b/test/micro_ros_renesas_testbench/client_tests/Parameters.c
index cd5f1432..01568f64 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Parameters.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Parameters.c
@@ -16,13 +16,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
   	// Create parameter service
     rclc_parameter_server_t param_server;
diff --git a/test/micro_ros_renesas_testbench/client_tests/Ping.c b/test/micro_ros_renesas_testbench/client_tests/Ping.c
index edff21a0..2a767ffc 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Ping.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Ping.c
@@ -17,15 +17,17 @@ void microros_app(void)
     // micro-ROS app
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    // create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node_ping", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node_ping", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/Publisher.c b/test/micro_ros_renesas_testbench/client_tests/Publisher.c
index 8058f2ce..8e83c38d 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Publisher.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Publisher.c
@@ -14,15 +14,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c b/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
index 34f11918..5c1d29ca 100644
--- a/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
+++ b/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
@@ -20,14 +20,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
-    rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "char_long_sequence_publisher_rcl", "", &support, &node_ops);
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
+	rcl_node_t node;
+    rclc_node_init_default(&node, "char_long_sequence_publisher_rcl", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c b/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
index f6931fb0..adb28080 100644
--- a/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
+++ b/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
@@ -33,15 +33,17 @@ void microros_app(void)
     // micro-ROS app
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    // create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rclc_publisher_init_best_effort(
diff --git a/test/micro_ros_renesas_testbench/client_tests/RTT.c b/test/micro_ros_renesas_testbench/client_tests/RTT.c
index 1119c673..43548df7 100644
--- a/test/micro_ros_renesas_testbench/client_tests/RTT.c
+++ b/test/micro_ros_renesas_testbench/client_tests/RTT.c
@@ -34,14 +34,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // Create node
-    rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
+	rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // Create publisher
     rclc_publisher_init_default(
diff --git a/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c b/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
index 3577c792..4ef6cd87 100644
--- a/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
+++ b/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
@@ -26,15 +26,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rclc_publisher_init_default(
diff --git a/test/micro_ros_renesas_testbench/client_tests/ServiceServer.c b/test/micro_ros_renesas_testbench/client_tests/ServiceServer.c
index dc76d2d7..bad0d7bb 100644
--- a/test/micro_ros_renesas_testbench/client_tests/ServiceServer.c
+++ b/test/micro_ros_renesas_testbench/client_tests/ServiceServer.c
@@ -22,15 +22,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+    // Create node
     rcl_node_t node;
-    rcl_node_options_t node_ops = rcl_node_get_default_options();
-    node_ops.domain_id = (size_t)(DOMAIN_ID);
-    rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create service
     rcl_service_t service;
diff --git a/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c b/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
index 0bf1dbd5..84ed5cac 100644
--- a/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
+++ b/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
@@ -23,15 +23,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/Subscriber.c b/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
index 38ed38f5..788089aa 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
@@ -26,15 +26,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
-    //create init_options
+    // create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rclc_publisher_init_default(
diff --git a/test/micro_ros_renesas_testbench/client_tests/Throughput.c b/test/micro_ros_renesas_testbench/client_tests/Throughput.c
index 9048d107..186fe663 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Throughput.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Throughput.c
@@ -20,14 +20,17 @@ void microros_app(void)
 {
     rcl_allocator_t allocator = rcl_get_default_allocator();
 
+    // Create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create node
-    rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// Create node
+	rcl_node_t node;
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;
diff --git a/test/micro_ros_renesas_testbench/client_tests/TimeSync.c b/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
index e4325d38..c4ae4e60 100644
--- a/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
+++ b/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
@@ -17,13 +17,15 @@ void microros_app(void)
 
     //create init_options
     rclc_support_t support;
-    rclc_support_init(&support, 0, NULL, &allocator);
 
-    // create nodes
+	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+	rcl_init_options_init(&init_options, allocator);
+	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+
+	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(DOMAIN_ID);
-	rclc_node_init_with_options(&node, "test_node", "", &support, &node_ops);
+    rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
     rcl_publisher_t publisher;

From 302607e8d34f0c43918d1b4a310c4aaff88cc9ef Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 3 Nov 2021 10:42:03 +0100
Subject: [PATCH 2/2] Convert indentation to spaces

---
 .../client_tests/ComplexSubscriber.c          | 12 ++--
 .../client_tests/CustomTypeIntrospection.c    | 12 ++--
 .../client_tests/Domain.c                     | 70 +++++++++----------
 .../client_tests/EntitiesQoS.c                | 12 ++--
 .../client_tests/EntityCreation.c             | 10 +--
 .../client_tests/EntityDestruction.c          | 10 +--
 .../client_tests/MultiplePublisherProfiling.c | 12 ++--
 .../client_tests/Parameters.c                 | 14 ++--
 .../client_tests/Ping.c                       | 12 ++--
 .../client_tests/Publisher.c                  | 12 ++--
 .../client_tests/PublisherContinousFragment.c | 12 ++--
 .../client_tests/PublisherRate.c              | 12 ++--
 .../client_tests/RTT.c                        | 12 ++--
 .../client_tests/ServiceClient.c              | 12 ++--
 .../client_tests/SinglePublisherProfiling.c   | 12 ++--
 .../client_tests/Subscriber.c                 | 12 ++--
 .../client_tests/Throughput.c                 | 12 ++--
 .../client_tests/TimeSync.c                   | 12 ++--
 18 files changed, 136 insertions(+), 136 deletions(-)

diff --git a/test/micro_ros_renesas_testbench/client_tests/ComplexSubscriber.c b/test/micro_ros_renesas_testbench/client_tests/ComplexSubscriber.c
index b050d8a1..c99a2872 100644
--- a/test/micro_ros_renesas_testbench/client_tests/ComplexSubscriber.c
+++ b/test/micro_ros_renesas_testbench/client_tests/ComplexSubscriber.c
@@ -44,13 +44,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c b/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
index 3755c336..d1a6aaf3 100644
--- a/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
+++ b/test/micro_ros_renesas_testbench/client_tests/CustomTypeIntrospection.c
@@ -20,13 +20,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/Domain.c b/test/micro_ros_renesas_testbench/client_tests/Domain.c
index d667f43e..6331aa47 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Domain.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Domain.c
@@ -23,11 +23,11 @@ std_msgs__msg__Int32 msg;
 
 void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 {
-	(void) last_call_time;
-	if (timer != NULL) {
-		rcl_publish(&publisher, &msg, NULL);
-		msg.data++;
-	}
+    (void) last_call_time;
+    if (timer != NULL) {
+        rcl_publish(&publisher, &msg, NULL);
+        msg.data++;
+    }
 }
 
 void microros_app(void)
@@ -37,39 +37,39 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
-	// create publisher
-	rclc_publisher_init_default(
-		&publisher,
-		&node,
-		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
-		"test_publisher_domain");
-
-	// create timer,
-	rcl_timer_t timer;
-	const unsigned int timer_timeout = 1000;
-	rclc_timer_init_default(
-		&timer,
-		&support,
-		RCL_MS_TO_NS(timer_timeout),
-		timer_callback);
-
-	// create executor
-	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
-	rclc_executor_init(&executor, &support.context, 1, &allocator);
-	rclc_executor_add_timer(&executor, &timer);
-
-	msg.data = 0;
-
-  	for(;;){
+    // create publisher
+    rclc_publisher_init_default(
+        &publisher,
+        &node,
+        ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+        "test_publisher_domain");
+
+    // create timer,
+    rcl_timer_t timer;
+    const unsigned int timer_timeout = 1000;
+    rclc_timer_init_default(
+        &timer,
+        &support,
+        RCL_MS_TO_NS(timer_timeout),
+        timer_callback);
+
+    // create executor
+    rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+    rclc_executor_init(&executor, &support.context, 1, &allocator);
+    rclc_executor_add_timer(&executor, &timer);
+
+    msg.data = 0;
+
+      for(;;){
         rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100));
         sleep_ms(10);
     }
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c b/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
index 033c04b2..8c852389 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntitiesQoS.c
@@ -17,13 +17,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher reliable
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c b/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
index cf107921..ecc9786c 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntityCreation.c
@@ -19,10 +19,10 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     rcl_node_t nodes[ENTITY_NUMBER];
@@ -33,7 +33,7 @@ void microros_app(void)
         snprintf(buf_namespace, 100, "ns_%d", i);
 
         // create node
-	    rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
+        rclc_node_init_default(&nodes[i], buf_name, buf_namespace, &support);
     }
 
     // create publishers
diff --git a/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c b/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
index 4e3aaa2c..74580318 100644
--- a/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
+++ b/test/micro_ros_renesas_testbench/client_tests/EntityDestruction.c
@@ -32,10 +32,10 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
     // create nodes
     for(size_t i = 0; i < ENTITY_NUMBER; i++){
@@ -97,6 +97,6 @@ void microros_app(void)
     {
         rcl_publisher_fini(&publishers[i], &nodes[i]);
         rcl_subscription_fini(&subscribers[i], &nodes[i]);
-	    rcl_node_fini(&nodes[i]);
+        rcl_node_fini(&nodes[i]);
     }
 }
\ No newline at end of file
diff --git a/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c b/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
index 5c7dbe2e..89875a59 100644
--- a/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
+++ b/test/micro_ros_renesas_testbench/client_tests/MultiplePublisherProfiling.c
@@ -28,13 +28,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publishers
diff --git a/test/micro_ros_renesas_testbench/client_tests/Parameters.c b/test/micro_ros_renesas_testbench/client_tests/Parameters.c
index 01568f64..bc18057c 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Parameters.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Parameters.c
@@ -17,16 +17,16 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
-  	// Create parameter service
+      // Create parameter service
     rclc_parameter_server_t param_server;
     rclc_parameter_server_init_default(&param_server, &node);
 
diff --git a/test/micro_ros_renesas_testbench/client_tests/Ping.c b/test/micro_ros_renesas_testbench/client_tests/Ping.c
index 2a767ffc..ad5fa4a8 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Ping.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Ping.c
@@ -20,13 +20,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node_ping", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/Publisher.c b/test/micro_ros_renesas_testbench/client_tests/Publisher.c
index 8e83c38d..5b52e2cd 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Publisher.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Publisher.c
@@ -17,13 +17,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c b/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
index 5c1d29ca..e8da80c3 100644
--- a/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
+++ b/test/micro_ros_renesas_testbench/client_tests/PublisherContinousFragment.c
@@ -23,13 +23,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "char_long_sequence_publisher_rcl", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c b/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
index adb28080..aa0755eb 100644
--- a/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
+++ b/test/micro_ros_renesas_testbench/client_tests/PublisherRate.c
@@ -36,13 +36,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/RTT.c b/test/micro_ros_renesas_testbench/client_tests/RTT.c
index 43548df7..ff2f811d 100644
--- a/test/micro_ros_renesas_testbench/client_tests/RTT.c
+++ b/test/micro_ros_renesas_testbench/client_tests/RTT.c
@@ -37,13 +37,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // Create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c b/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
index 4ef6cd87..22e9cae8 100644
--- a/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
+++ b/test/micro_ros_renesas_testbench/client_tests/ServiceClient.c
@@ -29,13 +29,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c b/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
index 84ed5cac..3415f39a 100644
--- a/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
+++ b/test/micro_ros_renesas_testbench/client_tests/SinglePublisherProfiling.c
@@ -26,13 +26,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/Subscriber.c b/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
index 788089aa..864bdbb5 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Subscriber.c
@@ -29,13 +29,13 @@ void microros_app(void)
     // create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/Throughput.c b/test/micro_ros_renesas_testbench/client_tests/Throughput.c
index 186fe663..1871508b 100644
--- a/test/micro_ros_renesas_testbench/client_tests/Throughput.c
+++ b/test/micro_ros_renesas_testbench/client_tests/Throughput.c
@@ -23,13 +23,13 @@ void microros_app(void)
     // Create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// Create node
-	rcl_node_t node;
+    // Create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher
diff --git a/test/micro_ros_renesas_testbench/client_tests/TimeSync.c b/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
index c4ae4e60..672eddee 100644
--- a/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
+++ b/test/micro_ros_renesas_testbench/client_tests/TimeSync.c
@@ -18,13 +18,13 @@ void microros_app(void)
     //create init_options
     rclc_support_t support;
 
-	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-	rcl_init_options_init(&init_options, allocator);
-	rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
-	rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    rcl_init_options_init(&init_options, allocator);
+    rcl_init_options_set_domain_id(&init_options, DOMAIN_ID);
+    rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
 
-	// create node
-	rcl_node_t node;
+    // create node
+    rcl_node_t node;
     rclc_node_init_default(&node, "test_node", "", &support);
 
     // create publisher