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Optimize the valid time check in the update loop #1923

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merged 2 commits into from
Dec 9, 2024
Merged

Optimize the valid time check in the update loop #1923

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5561b95
Optimize the valid time check in the update loop
saikishor Dec 4, 2024
f3dddcb
Merge branch 'master' into improve/valid_time/check
saikishor Dec 8, 2024
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44 changes: 21 additions & 23 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2366,6 +2366,26 @@ controller_interface::return_type ControllerManager::update(
++update_loop_counter_;
update_loop_counter_ %= update_rate_;

// Check for valid time
if (
!get_clock()->started() &&
time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
{
throw std::runtime_error(
"No clock received, and time argument is zero. Check your controller_manager node's "
"clock configuration (use_sim_time parameter) and if a valid clock source is "
"available. Also pass a proper time argument to the update method.");
}
else
{
// this can happen with use_sim_time=true until the /clock is received
rclcpp::Clock clock = rclcpp::Clock();
RCLCPP_WARN_THROTTLE(
get_logger(), clock, 1000,
"No clock received, using time argument instead! Check your node's clock "
"configuration (use_sim_time parameter) and if a valid clock source is available");
}

std::vector<std::string> failed_controllers_list;
for (const auto & loaded_controller : rt_controller_list)
{
Expand All @@ -2390,30 +2410,8 @@ controller_interface::return_type ControllerManager::update(
run_controller_at_cm_rate ? period
: rclcpp::Duration::from_seconds((1.0 / controller_update_rate));

rclcpp::Time current_time;
bool first_update_cycle = false;
if (get_clock()->started())
{
current_time = get_clock()->now();
}
else if (
time == rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
{
throw std::runtime_error(
"No clock received, and time argument is zero. Check your controller_manager node's "
"clock configuration (use_sim_time parameter) and if a valid clock source is "
"available. Also pass a proper time argument to the update method.");
}
else
{
// this can happen with use_sim_time=true until the /clock is received
rclcpp::Clock clock = rclcpp::Clock();
RCLCPP_WARN_THROTTLE(
get_logger(), clock, 1000,
"No clock received, using time argument instead! Check your node's clock "
"configuration (use_sim_time parameter) and if a valid clock source is available");
current_time = time;
}
const rclcpp::Time current_time = get_clock()->started() ? get_clock()->now() : time;
if (
*loaded_controller.last_update_cycle_time ==
rclcpp::Time(0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type()))
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