nav2_controller: add loop rate log (ros-navigation#4171)

* update smac_planner README Signed-off-by: ARK3r <[email protected]> * added current controller loop rate logging Signed-off-by: ARK3r <[email protected]> * linting Signed-off-by: ARK3r <[email protected]> * uncrustify lint Signed-off-by: ARK3r <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: ARK3r <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
Marc-Morcos · Jul 4, 2024 · 4305618 · 4305618
1 parent 9ae254b
commit 4305618
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -419,6 +419,7 @@ 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 {