diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8242a3ec..1afee7b9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -81,6 +81,7 @@ ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPEN
 generate_parameter_library(
   rate_limiter_parameters
   src/control_filters/rate_limiter_parameters.yaml
+  include/control_filters/custom_validators.hpp
 )
 
 add_library(rate_limiter SHARED
diff --git a/include/control_filters/rate_limiter.hpp b/include/control_filters/rate_limiter.hpp
index 6e002c03..d72d0b23 100644
--- a/include/control_filters/rate_limiter.hpp
+++ b/include/control_filters/rate_limiter.hpp
@@ -23,7 +23,6 @@
 #include "filters/filter_base.hpp"
 
 #include "control_toolbox/rate_limiter.hpp"
-#include "custom_validators.hpp"
 #include "rate_limiter_parameters.hpp"
 
 namespace control_filters
diff --git a/test/control_filters/test_rate_limiter.cpp b/test/control_filters/test_rate_limiter.cpp
index 6ba29b60..c985efbf 100644
--- a/test/control_filters/test_rate_limiter.cpp
+++ b/test/control_filters/test_rate_limiter.cpp
@@ -36,7 +36,7 @@ TEST_F(RateLimiterTest, TestRateLimiterMissingParameter)
     std::shared_ptr<filters::FilterBase<double>> filter_ =
         std::make_shared<control_filters::RateLimiter<double>>();
 
-    // should deny configuration as sampling frequency is missing
+    // should deny configuration as sampling_interval is missing
     ASSERT_FALSE(filter_->configure("", "TestRateLimiter",
         node_->get_node_logging_interface(), node_->get_node_parameters_interface()));
 }
@@ -46,7 +46,7 @@ TEST_F(RateLimiterTest, TestRateLimiterInvalidThenFixedParameter)
     std::shared_ptr<filters::FilterBase<double>> filter_ =
         std::make_shared<control_filters::RateLimiter<double>>();
 
-    // should deny configuration as sampling frequency is invalid
+    // should deny configuration as sampling_interval is invalid
     ASSERT_FALSE(filter_->configure("", "TestRateLimiter",
         node_->get_node_logging_interface(), node_->get_node_parameters_interface()));