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Enable throttling for demos 6 and 14 #603

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Enable throttling for demos 6 and 14 #603

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9b8b439
Revert "Remove throttled logging from example_14"
christophfroehlich Oct 14, 2024
311efc2
Revert "Don't use throttling for example_6"
christophfroehlich Oct 14, 2024
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2 changes: 1 addition & 1 deletion ...ringup/config/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
controller_manager:
ros__parameters:
update_rate: 10 # Hz
update_rate: 100 # Hz

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
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8 changes: 4 additions & 4 deletions example_14/doc/userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,10 @@ Tutorial steps
[ros2_control_node-1] Writing command: 5.00
[ros2_control_node-1] Sending data command: 5
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1728858168.775863217] [controller_manager.resource_manager.hardware_component.sensor.RRBotModularPositionSensorJoint2]: Reading...
[ros2_control_node-1] Got measured velocity 5.00
[ros2_control_node-1] Got state 0.29 for joint 'joint2'
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1728858168.776052116] [controller_manager.resource_manager.hardware_component.actuator.RRBotModularJoint2]: Writing...
[ros2_control_node-1] Writing command: 5.00
[ros2_control_node-1] Sending data command: 5
Expand All @@ -136,10 +140,6 @@ Tutorial steps
[ros2_control_node-1] Got measured velocity 5.00
[ros2_control_node-1] Got state 0.34 for joint 'joint1'
[ros2_control_node-1]
[ros2_control_node-1] [INFO] [1728858169.775863217] [controller_manager.resource_manager.hardware_component.sensor.RRBotModularPositionSensorJoint2]: Reading...
[ros2_control_node-1] Got measured velocity 5.00
[ros2_control_node-1] Got state 0.29 for joint 'joint2'
[ros2_control_node-1]


Files used for this demos
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2 changes: 1 addition & 1 deletion example_14/hardware/rrbot_actuator_without_feedback.cpp
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Expand Up @@ -219,7 +219,7 @@ hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWitho
std::ostringstream data;
data << hw_joint_command_;
ss << "Sending data command: " << data.str() << std::endl;
RCLCPP_INFO(get_logger(), ss.str().c_str());
RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, ss.str().c_str());

// Simulate sending commands to the hardware
send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
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2 changes: 1 addition & 1 deletion example_14/hardware/rrbot_sensor_for_position_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,7 @@ hardware_interface::return_type RRBotSensorPositionFeedback::read(
ss << "Got measured velocity " << measured_velocity << std::endl;
ss << "Got state " << hw_joint_state_ << " for joint '" << info_.joints[0].name << "'"
<< std::endl;
RCLCPP_INFO(get_logger(), ss.str().c_str());
RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, 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;
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2 changes: 1 addition & 1 deletion example_6/bringup/config/rrbot_modular_actuators.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
controller_manager:
ros__parameters:
update_rate: 10 # Hz
update_rate: 100 # Hz

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
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4 changes: 2 additions & 2 deletions example_6/hardware/rrbot_actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(get_logger(), "%s", ss.str().c_str());
RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%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;
Expand All @@ -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(get_logger(), "%s", ss.str().c_str());
RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%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;
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