From eff1dbaec2a86844d48dec81f32c5bbafd5f7e48 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 22 Mar 2024 16:56:27 -0700 Subject: [PATCH] Revert "nav2_controller: add loop rate log (#4171)" (#4210) This reverts commit 47374622dee01a27e5f9b8ae08f3d19a15de9b3a. --- nav2_controller/src/controller_server.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp index 4aa3566618..dc621d76de 100644 --- a/nav2_controller/src/controller_server.cpp +++ b/nav2_controller/src/controller_server.cpp @@ -419,7 +419,6 @@ void ControllerServer::computeControl() { std::lock_guard lock(dynamic_params_lock_); - auto start_time = this->now(); RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort."); try { @@ -482,12 +481,10 @@ void ControllerServer::computeControl() break; } - auto cycle_duration = this->now() - start_time; if (!loop_rate.sleep()) { RCLCPP_WARN( - get_logger(), - "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.", - controller_frequency_, 1 / cycle_duration.seconds()); + get_logger(), "Control loop missed its desired rate of %.4fHz", + controller_frequency_); } } } catch (nav2_core::InvalidController & e) {