fix: move predicate publishing rate parameter to base controller (#168)

CHANGELOG.md

@@ -21,6 +21,7 @@ Release Versions:
 ## Upcoming changes
 
  - fix(components): remove incorrect log line (#166)
+ - fix(controllers): move predicate publishing rate parameter to BaseControllerInterface (#168)
 
 ## 5.0.2
 

source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json

@@ -0,0 +1,19 @@
+{
+  "$schema": "https://docs.aica.tech/schemas/1-3-0/controller.schema.json",
+  "name": "Base Controller Interface",
+  "description": {
+    "brief": "Base controller class to combine ros2_control, control libraries and modulo"
+  },
+  "plugin": "modulo_controllers/BaseControllerInterface",
+  "virtual": true,
+  "parameters": [
+    {
+      "display_name": "Predicate publishing rate",
+      "description": "The rate at which to publish controller predicates (in Hertz)",
+      "parameter_name": "predicate_publishing_rate",
+      "parameter_type": "double",
+      "default_value": "10.0",
+      "internal": true
+    }
+  ]
+}

source/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json

@@ -2,9 +2,10 @@
   "$schema": "https://docs.aica.tech/schemas/1-3-0/controller.schema.json",
   "name": "Controller Interface",
   "description": {
-    "brief": "Base controller class to combine ros2_control, control libraries and modulo"
+    "brief": "Controller interface class that includes custom parameters for derived controllers"
   },
   "plugin": "modulo_controllers/ControllerInterface",
+  "inherits": "modulo_controllers/BaseControllerInterface",
   "virtual": true,
   "parameters": [
     {
@@ -48,14 +49,6 @@
       "parameter_name": "input_validity_period",
       "parameter_type": "double",
       "default_value": "1.0"
-    },
-    {
-      "display_name": "Predicate publishing rate",
-      "description": "The rate at which to publish controller predicates (in Hertz)",
-      "parameter_name": "predicate_publishing_rate",
-      "parameter_type": "double",
-      "default_value": "10.0",
-      "internal": true
     }
   ]
 }

source/modulo_controllers/src/BaseControllerInterface.cpp

@@ -31,7 +31,7 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn BaseCo
       [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
         return this->on_set_parameters_callback(parameters);
       });
-
+  add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
   return CallbackReturn::SUCCESS;
 }
 

source/modulo_controllers/src/ControllerInterface.cpp

@@ -28,7 +28,6 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Contro
         "activation_timeout", 1.0, "The seconds to wait for valid data on the state interfaces before activating");
     add_parameter<double>(
         "input_validity_period", 1.0, "The maximum age of an input state before discarding it as expired");
-    add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
 
     return add_interfaces();
   } catch (const std::exception& e) {