diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 7d52121582..ff453b6aea 100644
--- a/pid_controller/package.xml
+++ b/pid_controller/package.xml
@@ -27,6 +27,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
index ab32f5cb48..24d04c2bc7 100644
--- a/pid_controller/test/test_pid_controller.hpp
+++ b/pid_controller/test/test_pid_controller.hpp
@@ -146,7 +146,9 @@ class PidControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_pid_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
+    ASSERT_EQ(
+      controller_->init(controller_name, "", rclcpp::NodeOptions()),
+      controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
     command_itfs_.reserve(dof_names_.size());