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Fix throttle duration #866

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merged 2 commits into from
Mar 12, 2024
Merged

Fix throttle duration #866

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40cc8db
Fix throttle duration
Timple Mar 5, 2024
a6423a1
Fix the remaining once while I'm at it
Timple Mar 5, 2024
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4 changes: 2 additions & 2 deletions src/ros_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -348,7 +348,7 @@ void RosFilter<T>::controlStampedCallback(
filter_.setControl(latest_control_, msg->header.stamp);
} else {
RCLCPP_WARN_STREAM_THROTTLE(
get_logger(), *get_clock(), 5.0, "Commanded velocities "
get_logger(), *get_clock(), 5000, "Commanded velocities "
" must be given in the robot's body frame (" << base_link_frame_id_ <<
"). Message frame was " << msg->header.frame_id);
}
Expand Down Expand Up @@ -2221,7 +2221,7 @@ void RosFilter<T>::periodicUpdate()
RCLCPP_ERROR_STREAM_SKIPFIRST_THROTTLE(
get_logger(),
*get_clock(),
5.0,
5000,
"Could not obtain transform from " << odom_frame_id_ << "->" << base_link_frame_id_);
}
} else {
Expand Down
9 changes: 0 additions & 9 deletions src/ros_filter_utilities.cpp
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Expand Up @@ -49,15 +49,6 @@
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2_ros/buffer.h"

#define THROTTLE(clock, duration, thing) do { \
static rclcpp::Time _last_output_time ## __LINE__(0, 0, (clock)->get_clock_type()); \
auto _now = (clock)->now(); \
if (_now - _last_output_time ## __LINE__ > (duration)) { \
_last_output_time ## __LINE__ = _now; \
thing; \
} \
} while (0)

std::ostream & operator<<(std::ostream & os, const tf2::Vector3 & vec)
{
os << "(" << std::setprecision(20) << vec.getX() << " " << vec.getY() << " " <<
Expand Down
22 changes: 5 additions & 17 deletions src/ros_robot_localization_listener.cpp
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Expand Up @@ -51,15 +51,6 @@
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "yaml-cpp/yaml.h"

#define THROTTLE(clock, duration, thing) do { \
static rclcpp::Time _last_output_time ## __LINE__(0, 0, (clock)->get_clock_type()); \
auto _now = (clock)->now(); \
if (_now - _last_output_time ## __LINE__ > (duration)) { \
_last_output_time ## __LINE__ = _now; \
thing; \
} \
} while (0)

namespace robot_localization
{
FilterTypes::FilterType filterTypeFromString(
Expand Down Expand Up @@ -165,14 +156,11 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
// Wait until the base and world frames are set by the incoming messages
while (rclcpp::ok() && base_frame_id_.empty()) {
rclcpp::spin_some(node);
// TODO(ros2/rclcpp#879) RCLCPP_THROTTLE_INFO() when released
THROTTLE(
node->get_clock(), std::chrono::seconds(1),
RCLCPP_INFO(
node_logger_->get_logger(),
"Ros Robot Localization Listener: Waiting for incoming messages on "
"topics %s and %s",
odom_sub_.getTopic().c_str(), accel_sub_.getTopic().c_str()));
RCLCPP_INFO_THROTTLE(
node_logger_->get_logger(), *node->get_clock(), 1000,
"Ros Robot Localization Listener: Waiting for incoming messages on "
"topics %s and %s",
odom_sub_.getTopic().c_str(), accel_sub_.getTopic().c_str());
rclcpp::Rate(10).sleep();
}
}
Expand Down