Address comments

Author: minggangw

lib/node.js

@@ -97,7 +97,30 @@ class Node extends rclnodejs.ShadowNode {
     );
   }
 
+  static _normalizeOptions(options) {
+    if (options instanceof NodeOptions) {
+      return options;
+    }
+    const defaults = NodeOptions.defaultOptions;
+    return {
+      startParameterServices:
+        options.startParameterServices ?? defaults.startParameterServices,
+      parameterOverrides:
+        options.parameterOverrides ?? defaults.parameterOverrides,
+      automaticallyDeclareParametersFromOverrides:
+        options.automaticallyDeclareParametersFromOverrides ??
+        defaults.automaticallyDeclareParametersFromOverrides,
+      startTypeDescriptionService:
+        options.startTypeDescriptionService ??
+        defaults.startTypeDescriptionService,
+      enableRosout: options.enableRosout ?? defaults.enableRosout,
+      rosoutQos: options.rosoutQos ?? defaults.rosoutQos,
+    };
+  }
+
   _init(name, namespace, options, context, args, useGlobalArguments) {
+    options = Node._normalizeOptions(options);
+
     this.handle = rclnodejs.createNode(
       name,
       namespace,
@@ -149,9 +172,8 @@ class Node extends rclnodejs.ShadowNode {
     this._parameterOverrides = this._getNativeParameterOverrides();
 
     // override cli parameterOverrides with those specified in options
-    const parameterOverrides = options.parameterOverrides || [];
-    if (parameterOverrides.length > 0) {
-      for (const parameter of parameterOverrides) {
+    if (options.parameterOverrides.length > 0) {
+      for (const parameter of options.parameterOverrides) {
         if (!(parameter instanceof Parameter)) {
           throw new TypeValidationError(
             'parameterOverride',

test/test-node.js

@@ -145,26 +145,22 @@ describe('rclnodejs node test suite', function () {
     });
 
     it('Create a node with a plain object as options', function () {
-      assert.doesNotThrow(() => {
-        const node = new rclnodejs.Node('plain_opts_node', '/ns', undefined, {
-          enableRosout: false,
-        });
-        assert.strictEqual(node.name(), 'plain_opts_node');
-        node.destroy();
+      const node = new rclnodejs.Node('plain_opts_node', '/ns', undefined, {
+        enableRosout: false,
       });
+      assert.strictEqual(node.name(), 'plain_opts_node');
+      node.destroy();
     });
 
     it('Create a node with options missing parameterOverrides', function () {
-      assert.doesNotThrow(() => {
-        const node = new rclnodejs.Node(
-          'partial_opts_node',
-          '/ns',
-          undefined,
-          {}
-        );
-        assert.strictEqual(node.name(), 'partial_opts_node');
-        node.destroy();
-      });
+      const node = new rclnodejs.Node(
+        'partial_opts_node',
+        '/ns',
+        undefined,
+        {}
+      );
+      assert.strictEqual(node.name(), 'partial_opts_node');
+      node.destroy();
     });
   });
 });