From 4a3c7a56f2455821d13a747a1260c76c179ebac3 Mon Sep 17 00:00:00 2001
From: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
Date: Fri, 29 Nov 2024 10:43:09 +0900
Subject: [PATCH] Add remap option to controller manager

---
 gz_ros2_control/src/gz_ros2_control_plugin.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
index 14e594ca..d38ce556 100644
--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -437,6 +437,10 @@ void GazeboSimROS2ControlPlugin::Configure(
   // Create the controller manager
   RCLCPP_INFO(this->dataPtr->node_->get_logger(), "Loading controller_manager");
   rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+  arguments.push_back("-r");
+  arguments.push_back("__node:=" + controllerManagerNodeName);
+  arguments.push_back("-r");
+  arguments.push_back("__ns:=" + ns);
   options.arguments(arguments);
   this->dataPtr->controller_manager_.reset(
     new controller_manager::ControllerManager(