Merge branch 'fix-update-rate' into humble (ros-controls#874)

henrygerardmoore · Jan 16, 2023 · a4f682e · a4f682e
1 parent 6a8ef67
commit a4f682e
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -178,6 +178,10 @@ ControllerManager::ControllerManager(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
       kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
 {
+  if (!get_parameter("update_rate", update_rate_))
+  {
+    RCLCPP_WARN(get_logger(), "'update_rate' parameter not set, using default value.");
+  }
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
     "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);