Added the fix to solve inconsistency w.r.t controller update rate

ros-controls · Jul 1, 2023 · 936b602 · 936b602
1 parent 16cd087
commit 936b602
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1816,8 +1816,9 @@ controller_interface::return_type ControllerManager::update(
     {
       const auto controller_update_rate = loaded_controller.c->get_update_rate();
 
-      bool controller_go =
-        controller_update_rate == 0 || ((update_loop_counter_ % controller_update_rate) == 0);
+      bool controller_go = controller_update_rate == 0 ||
+                           ((update_loop_counter_ % controller_update_rate) == 0) ||
+                           (controller_update_rate >= update_rate_);
       RCLCPP_DEBUG(
         get_logger(), "update_loop_counter: '%d ' controller_go: '%s ' controller_name: '%s '",
         update_loop_counter_, controller_go ? "True" : "False",