From 2014c5763fe4ae8fc6e66a0a8eb2fba88e8ae075 Mon Sep 17 00:00:00 2001
From: nibanovic <nikola.banovic@b-robotized.com>
Date: Fri, 17 Jul 2026 14:30:51 +0200
Subject: [PATCH 1/3] add missing controller async parameter declarations

---
 controller_interface/src/controller_interface_base.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 43ee52ee32..722cbb61d5 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -100,6 +100,13 @@ return_type ControllerInterfaceBase::init(
     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);
+
+    auto_declare<int>("async_parameters.thread_priority", 50);
+    auto_declare<std::string>("async_parameters.scheduling_policy", "synchronized");
+    auto_declare<std::vector<int64_t>>("async_parameters.cpu_affinity", std::vector<int64_t>());
+    auto_declare<int>("async_parameters.execution_rate", impl_->ctrl_itf_params_.update_rate);
+    auto_declare<bool>("async_parameters.wait_until_initial_trigger", true);
+    auto_declare<bool>("async_parameters.print_warnings", true);
   }
   catch (const std::exception & e)
   {

From f10bd925ebaab16e53970a054337a6b4c24310ad Mon Sep 17 00:00:00 2001
From: nibanovic <nikola.banovic@b-robotized.com>
Date: Mon, 27 Jul 2026 10:54:22 +0200
Subject: [PATCH 2/3] declare async parameters via AsyncFunctionHandlerParams

---
 controller_interface/src/controller_interface_base.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index 722cbb61d5..efb0034574 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -101,12 +101,8 @@ return_type ControllerInterfaceBase::init(
     auto_declare<bool>("is_async", false);
     auto_declare<int>("thread_priority", -100);
 
-    auto_declare<int>("async_parameters.thread_priority", 50);
-    auto_declare<std::string>("async_parameters.scheduling_policy", "synchronized");
-    auto_declare<std::vector<int64_t>>("async_parameters.cpu_affinity", std::vector<int64_t>());
-    auto_declare<int>("async_parameters.execution_rate", impl_->ctrl_itf_params_.update_rate);
-    auto_declare<bool>("async_parameters.wait_until_initial_trigger", true);
-    auto_declare<bool>("async_parameters.print_warnings", true);
+    realtime_tools::AsyncFunctionHandlerParams::declare(
+      impl_->node_, "async_parameters.", impl_->ctrl_itf_params_.update_rate);
   }
   catch (const std::exception & e)
   {

From b59bb71c6499efc2176530204a7d5e53ae39aa1b Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Wed, 29 Jul 2026 19:50:05 +0200
Subject: [PATCH 3/3] Remove legacy parametrer

---
 controller_interface/src/controller_interface_base.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
index efb0034574..8a427444c4 100644
--- a/controller_interface/src/controller_interface_base.cpp
+++ b/controller_interface/src/controller_interface_base.cpp
@@ -99,7 +99,6 @@ 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);