diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
index 8af2f6bc94..a2849d5742 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index db708db6c5..19908d7f9f 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", "", options);
+    auto result = controller_->init(controller_name, "", 0, "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
index 34d6883a83..521506762b 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 505aa44d2b..eb970d34a3 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -195,7 +195,7 @@ class TestDiffDriveController : public ::testing::Test
 
 TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
@@ -203,7 +203,7 @@ TEST_F(TestDiffDriveController, configure_fails_without_parameters)
 
 TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -223,7 +223,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_only_left_or_only_right_sid
 
 TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -239,7 +239,7 @@ TEST_F(TestDiffDriveController, configure_fails_with_mismatching_wheel_side_size
 
 TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -259,7 +259,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_when_wheels_are_specified)
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -292,7 +292,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -327,7 +327,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp
 
 TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -363,7 +363,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -398,7 +398,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -435,7 +435,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 {
   std::string test_namespace = "/test_namespace";
 
-  const auto ret = controller_->init(controller_name, urdf_, test_namespace);
+  const auto ret = controller_->init(controller_name, urdf_, 0, test_namespace);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   std::string odom_id = "odom";
@@ -469,7 +469,7 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name
 
 TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -483,7 +483,7 @@ TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -499,7 +499,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_pos_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -516,7 +516,7 @@ TEST_F(TestDiffDriveController, activate_succeeds_with_vel_resources_assigned)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -533,7 +533,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_1)
 
 TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -550,7 +550,7 @@ TEST_F(TestDiffDriveController, activate_fails_with_wrong_resources_assigned_2)
 
 TEST_F(TestDiffDriveController, cleanup)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -599,7 +599,7 @@ TEST_F(TestDiffDriveController, cleanup)
 
 TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index 23555c578f..f9d72ab202 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupEffortControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void JointGroupEffortControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_effort_controller", "");
+  const auto result = controller_->init("test_joint_group_effort_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
index 82f677410e..bfe7561642 100644
--- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
+++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -53,7 +53,7 @@ void ForceTorqueSensorBroadcasterTest::TearDown() { fts_broadcaster_.reset(nullp
 
 void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster()
 {
-  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "");
+  const auto result = fts_broadcaster_->init("test_force_torque_sensor_broadcaster", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
index 2ab507ef29..62d5512b4e 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -60,7 +60,7 @@ void ForwardCommandControllerTest::TearDown() { controller_.reset(nullptr); }
 
 void ForwardCommandControllerTest::SetUpController()
 {
-  const auto result = controller_->init("forward_command_controller", "");
+  const auto result = controller_->init("forward_command_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
index 00ca4ae2d1..7826c85355 100644
--- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -62,7 +62,7 @@ void MultiInterfaceForwardCommandControllerTest::TearDown() { controller_.reset(
 
 void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params_and_activate)
 {
-  const auto result = controller_->init("multi_interface_forward_command_controller", "");
+  const auto result = controller_->init("multi_interface_forward_command_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
index 572e755743..0fc10c0c73 100644
--- a/gripper_controllers/test/test_gripper_controllers.cpp
+++ b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -60,7 +60,7 @@ void GripperControllerTest<T>::TearDown()
 template <typename T>
 void GripperControllerTest<T>::SetUpController()
 {
-  const auto result = controller_->init("gripper_controller", "");
+  const auto result = controller_->init("gripper_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index 0b782efc5f..0fb987ce77 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -53,7 +53,7 @@ void IMUSensorBroadcasterTest::TearDown() { imu_broadcaster_.reset(nullptr); }
 
 void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 {
-  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "");
+  const auto result = imu_broadcaster_->init("test_imu_sensor_broadcaster", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
index a6c0708fd9..3a74f599b4 100644
--- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -69,7 +69,7 @@ void JointStateBroadcasterTest::SetUpStateBroadcaster(
 void JointStateBroadcasterTest::init_broadcaster_and_set_parameters(
   const std::vector<std::string> & joint_names, const std::vector<std::string> & interfaces)
 {
-  const auto result = state_broadcaster_->init("joint_state_broadcaster", "");
+  const auto result = state_broadcaster_->init("joint_state_broadcaster", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   state_broadcaster_->get_node()->set_parameter({"joints", joint_names});
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index fdf4305cec..3a7e7e5cf1 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -196,7 +196,7 @@ class TrajectoryControllerTest : public ::testing::Test
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
 
-    auto ret = traj_controller_->init(controller_name_, "", "", node_options);
+    auto ret = traj_controller_->init(controller_name_, "", 0, "", node_options);
     if (ret != controller_interface::return_type::OK)
     {
       FAIL();
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
index 07f42e4eba..3b4f00be12 100644
--- a/position_controllers/test/test_joint_group_position_controller.cpp
+++ b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupPositionControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupPositionControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_position_controller", "");
+  const auto result = controller_->init("test_joint_group_position_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
index ab937146cb..a857141ea9 100644
--- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
+++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -34,7 +34,7 @@ controller_interface::return_type RangeSensorBroadcasterTest::init_broadcaster(
   std::string broadcaster_name)
 {
   controller_interface::return_type result = controller_interface::return_type::ERROR;
-  result = range_broadcaster_->init(broadcaster_name, "");
+  result = range_broadcaster_->init(broadcaster_name, "", 0);
 
   if (controller_interface::return_type::OK == result)
   {
diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
index 226d4f4291..5caf347ac1 100644
--- a/steering_controllers_library/test/test_steering_controllers_library.hpp
+++ b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -168,7 +168,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_steering_controllers_library")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
index 054fff10ce..504ca381ce 100644
--- a/tricycle_controller/test/test_tricycle_controller.cpp
+++ b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -173,14 +173,14 @@ class TestTricycleController : public ::testing::Test
 
 TEST_F(TestTricycleController, configure_fails_without_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
 }
 
 TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side_defined)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -200,7 +200,7 @@ TEST_F(TestTricycleController, configure_fails_if_only_traction_or_steering_side
 
 TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -213,7 +213,7 @@ TEST_F(TestTricycleController, configure_succeeds_when_joints_are_specified)
 
 TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -227,7 +227,7 @@ TEST_F(TestTricycleController, activate_fails_without_resources_assigned)
 
 TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   // We implicitly test that by default position feedback is required
@@ -243,7 +243,7 @@ TEST_F(TestTricycleController, activate_succeeds_with_resources_assigned)
 
 TEST_F(TestTricycleController, cleanup)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
@@ -292,7 +292,7 @@ TEST_F(TestTricycleController, cleanup)
 
 TEST_F(TestTricycleController, correct_initialization_using_parameters)
 {
-  const auto ret = controller_->init(controller_name, urdf_);
+  const auto ret = controller_->init(controller_name, urdf_, 0);
   ASSERT_EQ(ret, controller_interface::return_type::OK);
 
   controller_->get_node()->set_parameter(
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
index e9d1023d98..c5f6985d4e 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -146,7 +146,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_tricycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, "", 0), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
index 185c630bc9..4cbf1b7342 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -54,7 +54,7 @@ void JointGroupVelocityControllerTest::TearDown() { controller_.reset(nullptr);
 
 void JointGroupVelocityControllerTest::SetUpController()
 {
-  const auto result = controller_->init("test_joint_group_velocity_controller", "");
+  const auto result = controller_->init("test_joint_group_velocity_controller", "", 0);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;