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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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7 changes: 7 additions & 0 deletions controller_interface/src/controller_interface_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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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);

@saikishor saikishor Jul 20, 2026

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Maybe, it is wiser to add declare_parameters method to the asyncParams and then handle it in the realtime_tools, this way any new parameter need not be reflected again and again here

@Nibanovic Nibanovic Jul 27, 2026

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yeah, that is a good catch. Added a commit for this

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