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nav2_controller: add loop rate log #4228

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merged 2 commits into from
Mar 28, 2024
Merged

nav2_controller: add loop rate log #4228

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2f7c176
added current loop rate printout
ARK3r Mar 28, 2024
a269a73
remove empty line
ARK3r Mar 28, 2024
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9 changes: 7 additions & 2 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -452,6 +452,8 @@ void ControllerServer::computeControl()
last_valid_cmd_time_ = now();
rclcpp::WallRate loop_rate(controller_frequency_);
while (rclcpp::ok()) {
auto start_time = this->now();

if (action_server_ == nullptr || !action_server_->is_server_active()) {
RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping.");
return;
Expand Down Expand Up @@ -479,10 +481,13 @@ void ControllerServer::computeControl()
break;
}

auto cycle_duration = this->now() - start_time;

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if (!loop_rate.sleep()) {
RCLCPP_WARN(
get_logger(), "Control loop missed its desired rate of %.4fHz",
controller_frequency_);
get_logger(),
"Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.",
controller_frequency_, 1 / cycle_duration.seconds());
}
}
} catch (nav2_core::InvalidController & e) {
Expand Down
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