feat(controllers): expose parameters from base class

CHANGELOG.md

@@ -21,6 +21,10 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## Upcoming changes
+
+- feat(controllers): expose parameters from base class (#214)
+
 ## 5.2.2
 
 ### June 25th, 2025

source/modulo_controllers/controller_descriptions/modulo_controllers_base_controller_interface.json

@@ -7,6 +7,13 @@
   "plugin": "modulo_controllers/BaseControllerInterface",
   "virtual": true,
   "parameters": [
+    {
+      "display_name": "Input validity period",
+      "description": "The maximum age of an input state before discarding it as expired (in seconds)",
+      "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)",
@@ -16,11 +23,21 @@
       "internal": true
     },
     {
-      "display_name": "Input validity period",
-      "description": "The maximum age of an input state before discarding it as expired (in seconds)",
-      "parameter_name": "input_validity_period",
-      "parameter_type": "double",
-      "default_value": "1.0"
+      "display_name": "Update rate",
+      "description": "The rate at which to evaluate the controller (in Hertz). Defaults to the controller manager rate if not set.",
+      "parameter_name": "update_rate",
+      "parameter_type": "int",
+      "default_value": null,
+      "optional": true,
+      "internal": true
+    },
+    {
+      "display_name": "Is Async",
+      "description": "Whether the controller should be evaluated asynchronously",
+      "parameter_name": "is_async",
+      "parameter_type": "bool",
+      "default_value": "false",
+      "internal": true
     }
   ]
 }

source/modulo_controllers/src/BaseControllerInterface.cpp

@@ -31,6 +31,13 @@ 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);
       });
+
+  // these two parameters are declared in the ControllerInterface, need to add them in the internal map as well
+  parameter_map_.set_parameter(std::make_shared<Parameter<int>>("update_rate"));
+  read_only_parameters_.insert_or_assign("update_rate", false);
+  parameter_map_.set_parameter(std::make_shared<Parameter<bool>>("is_async", false));
+  read_only_parameters_.insert_or_assign("is_async", false);
+
   add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
   add_parameter<double>(
       "input_validity_period", 1.0, "The maximum age of an input state before discarding it as expired");