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Add missing controller async parameter declarations #3481

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Add missing controller async parameter declarations #3481

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2014c57
add missing controller async parameter declarations
Nibanovic Jul 17, 2026
f10bd92
declare async parameters via AsyncFunctionHandlerParams
Nibanovic Jul 27, 2026
b59bb71
Remove legacy parametrer
destogl Jul 29, 2026
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4 changes: 3 additions & 1 deletion controller_interface/src/controller_interface_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Comment on lines +103 to +104

@saikishor saikishor Jul 30, 2026

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Why not use async_params_.declare?

@Nibanovic Nibanovic Jul 30, 2026

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I figured the parameters are a property of the node that declares them, and this should only be a utility function. Also for loading parameters from yaml.

So it goes something like this:

  1. in init, node is just being created, so we declare the parameters. There is no async_params_ member yet.
  2. after init, parameters are loaded from yaml file
  3. then in configure(), the parameters are read and stored in async_params_.

that is why declare() is a static function, and not tied to the async_params_ instance. The instance does not even exist in init, so we might miss param setting from yaml.

}
catch (const std::exception & e)
{
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