add NodeOptions to tests with parameters

nav2_costmap_2d/test/integration/inflation_tests.cpp

@@ -43,6 +43,7 @@
 #include "nav2_costmap_2d/inflation_layer.hpp"
 #include "nav2_costmap_2d/observation_buffer.hpp"
 #include "nav2_costmap_2d/testing_helper.hpp"
+#include "nav2_util/node_utils.hpp"
 
 using geometry_msgs::msg::Point;
 using nav2_costmap_2d::CellData;
@@ -60,7 +61,8 @@ class TestNode : public ::testing::Test
 public:
   TestNode()
   {
-    node_ = rclcpp::Node::make_shared("inflation_test_node");
+    node_ = rclcpp::Node::make_shared(
+      "inflation_test_node", nav2_util::get_node_options_default());
     // Set cost_scaling_factor parameter to 1.0 for inflation layer
     node_->set_parameters({rclcpp::Parameter("inflation.cost_scaling_factor", 1.0)});
   }

nav2_costmap_2d/test/integration/obstacle_tests.cpp

@@ -39,7 +39,7 @@
 #include "nav2_costmap_2d/layered_costmap.hpp"
 #include "nav2_costmap_2d/observation_buffer.hpp"
 #include "nav2_costmap_2d/testing_helper.hpp"
-
+#include "nav2_util/node_utils.hpp"
 
 class RclCppFixture
 {
@@ -54,7 +54,8 @@ class TestNode : public ::testing::Test
 public:
   TestNode()
   {
-    node_ = rclcpp::Node::make_shared("obstacle_test_node");
+    node_ = rclcpp::Node::make_shared(
+      "obstacle_test_node", nav2_util::get_node_options_default());
   }
 
   ~TestNode() {}

nav2_dwb_controller/dwb_plugins/test/twist_gen.cpp

@@ -40,6 +40,7 @@
 #include "dwb_plugins/standard_traj_generator.hpp"
 #include "dwb_plugins/limited_accel_generator.hpp"
 #include "dwb_core/exceptions.hpp"
+#include "nav2_util/node_utils.hpp"
 
 using std::hypot;
 using std::fabs;
@@ -74,7 +75,7 @@ std::vector<rclcpp::Parameter> getDefaultKinematicParameters()
 
 rclcpp::Node::SharedPtr makeTestNode(const std::string & name)
 {
-  rclcpp::NodeOptions node_options;
+  rclcpp::NodeOptions node_options = nav2_util::get_node_options_default();
   node_options.initial_parameters(getDefaultKinematicParameters());
   return rclcpp::Node::make_shared(name, node_options);
 }

nav2_dynamic_params/test/test_dynamic_params_client.cpp

@@ -22,6 +22,7 @@
 #include "nav2_dynamic_params/dynamic_params_client.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_util/lifecycle_utils.hpp"
+#include "nav2_util/node_utils.hpp"
 
 using namespace std::chrono_literals;
 
@@ -63,7 +64,8 @@ class ClientTest : public ::testing::Test
 public:
   ClientTest()
   {
-    node_ = rclcpp::Node::make_shared("dynamic_param_client_test");
+    node_ = rclcpp::Node::make_shared(
+      "dynamic_param_client_test", nav2_util::get_node_options_default());
     dynamic_params_client_ = std::make_unique<DynamicParamsClientTest>(node_);
   }
 

nav2_dynamic_params/test/test_dynamic_params_helper.cpp

@@ -18,6 +18,7 @@
 #include <vector>
 
 #include "nav2_dynamic_params/dynamic_params_client.hpp"
+#include "nav2_util/node_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
@@ -25,9 +26,10 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-  auto node_A = rclcpp_lifecycle::LifecycleNode::make_shared("test_node");
+  auto node_A = rclcpp_lifecycle::LifecycleNode::make_shared(
+    "test_node", nav2_util::get_node_options_default());
   auto node_B = rclcpp_lifecycle::LifecycleNode::make_shared(
-    "test_node", "test_namespace", rclcpp::NodeOptions());
+    "test_node", "test_namespace", nav2_util::get_node_options_default());
 
   node_A->set_parameters({rclcpp::Parameter("foo", 1.0)});
   node_B->set_parameters({rclcpp::Parameter("bar", 1)});

nav2_dynamic_params/test/test_dynamic_params_validator.cpp

@@ -18,6 +18,7 @@
 
 #include "gtest/gtest.h"
 #include "nav2_dynamic_params/dynamic_params_validator.hpp"
+#include "nav2_util/node_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using rcl_interfaces::msg::SetParametersResult;
@@ -59,7 +60,8 @@ class ValidatorTest : public ::testing::Test
 public:
   ValidatorTest()
   {
-    node_ = rclcpp::Node::make_shared("dynamic_param_validator_test");
+    node_ = rclcpp::Node::make_shared(
+      "dynamic_param_validator_test", nav2_util::get_node_options_default());
     param_validator_ = std::make_unique<nav2_dynamic_params::DynamicParamsValidator>(node_);
   }