fix: move predicate publishing rate parameter to base controller

aica-technology · Nov 29, 2024 · f3dc61b · f3dc61b
1 parent 9324ea1
commit f3dc61b
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Showing 3 changed files with 3 additions and 11 deletions.
diff --git a/...e/modulo_controllers/controller_descriptions/modulo_controllers_controller_interface.json b/...e/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": "Base controller class to combine ros2_control, control libraries and modulo" // todo: to be updated
   },
   "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
     }
   ]
 }
diff --git a/source/modulo_controllers/src/BaseControllerInterface.cpp b/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;
 }
 

diff --git a/source/modulo_controllers/src/ControllerInterface.cpp b/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) {