From 5cb5efa1c1ac020b8a3898c9c41c4bc130d1f857 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Fri, 23 Aug 2024 15:34:54 +0200
Subject: [PATCH] propagate gazebo remapping and other arguments to the
 controller node (#396)

(cherry picked from commit cbdd3a3fc6dcb49072b501984c3294a20872dcd8)
---
 gz_ros2_control/src/gz_ros2_control_plugin.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
index b476fb50..ff26e583 100644
--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -405,12 +405,14 @@ 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();
+  options.arguments(arguments);
   this->dataPtr->controller_manager_.reset(
     new controller_manager::ControllerManager(
       std::move(resource_manager_),
       this->dataPtr->executor_,
       controllerManagerNodeName,
-      this->dataPtr->node_->get_namespace()));
+      this->dataPtr->node_->get_namespace(), options));
   this->dataPtr->executor_->add_node(this->dataPtr->controller_manager_);
 
   this->dataPtr->update_rate = this->dataPtr->controller_manager_->get_update_rate();