Don't use throttling for example_6

ros-controls · Oct 13, 2024 · 1c8fb50 · 1c8fb50
1 parent f8b2bf4
commit 1c8fb50
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/example_6/bringup/config/rrbot_modular_actuators.yaml b/example_6/bringup/config/rrbot_modular_actuators.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    update_rate: 10  # Hz
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

diff --git a/example_6/hardware/rrbot_actuator.cpp b/example_6/hardware/rrbot_actuator.cpp
@@ -164,7 +164,7 @@ hardware_interface::return_type RRBotModularJoint::read(
   ss << std::fixed << std::setprecision(2) << std::endl
      << "\t" << hw_joint_state_ << " for joint '" << info_.joints[0].name.c_str() << "'";
 
-  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
+  RCLCPP_INFO(get_logger(), "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;
@@ -181,7 +181,7 @@ hardware_interface::return_type ros2_control_demo_example_6::RRBotModularJoint::
   ss << std::fixed << std::setprecision(2) << std::endl
      << "\t" << hw_joint_command_ << " for joint '" << info_.joints[0].name.c_str() << "'";
 
-  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
+  RCLCPP_INFO(get_logger(), "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;