Address review comment by making a log throttle

ros-navigation · Mar 19, 2024 · 197eb53 · 197eb53
1 parent b7db19e
commit 197eb53
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -452,7 +452,6 @@ void ControllerServer::computeControl()
 
     last_valid_cmd_time_ = now();
     rclcpp::WallRate loop_rate(controller_frequency_);
-    bool cancelling = false;
     while (rclcpp::ok()) {
       if (action_server_ == nullptr || !action_server_->is_server_active()) {
         RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping.");
@@ -466,10 +465,9 @@ void ControllerServer::computeControl()
           publishZeroVelocity();
           return;
         } else {
-          if (!cancelling) {
-            RCLCPP_INFO(get_logger(), "Goal was canceled. Trying to stop the robot.");
-            cancelling = true;
-          }
+          RCLCPP_INFO_THROTTLE(
+            get_logger(),
+            *get_clock(), 1000, "Goal was canceled. Trying to stop the robot.");
         }
       }