diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 43ee52ee32..8a427444c4 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -99,7 +99,9 @@ return_type ControllerInterfaceBase::init(
     // no rclcpp::ParameterValue unsigned int specialization
     auto_declare<int>("update_rate", static_cast<int>(params.controller_manager_update_rate));
     auto_declare<bool>("is_async", false);
-    auto_declare<int>("thread_priority", -100);
+
+    realtime_tools::AsyncFunctionHandlerParams::declare(
+      impl_->node_, "async_parameters.", impl_->ctrl_itf_params_.update_rate);
   }
   catch (const std::exception & e)
   {