From 0a85b4986f118d1e3c615104140a51db2bab2440 Mon Sep 17 00:00:00 2001
From: Reza Kermani <kermani.areza@gmail.com>
Date: Fri, 8 Mar 2024 13:25:25 -0500
Subject: [PATCH] nav2_controller: add loop rate log (#4171)

* update smac_planner README

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* added current controller loop rate logging

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* linting

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* uncrustify lint

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: ARK3r <kermani.areza@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
---
 nav2_controller/src/controller_server.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index c43f75e9c0..3a68a9bd9c 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -424,6 +424,7 @@ void ControllerServer::computeControl()
 {
   std::lock_guard<std::mutex> lock(dynamic_params_lock_);
 
+  auto start_time = this->now();
   RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");
 
   try {