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nav2_controller: add loop rate log #4171

Merged
merged 8 commits into from
Mar 8, 2024
Merged

nav2_controller: add loop rate log #4171

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5e04eb2
update smac_planner README
ARK3r Feb 6, 2024
cc82151
Merge branch 'ros-planning:main' into main
ARK3r Mar 8, 2024
af6fd1a
added current controller loop rate logging
ARK3r Mar 8, 2024
698ab94
linting
ARK3r Mar 8, 2024
5160ca7
uncrustify lint
ARK3r Mar 8, 2024
763d814
Update nav2_controller/src/controller_server.cpp
SteveMacenski Mar 8, 2024
c70b5a1
Update nav2_controller/src/controller_server.cpp
SteveMacenski Mar 8, 2024
7b4aa93
Update nav2_controller/src/controller_server.cpp
SteveMacenski Mar 8, 2024
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10 changes: 8 additions & 2 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -419,6 +419,8 @@ void ControllerServer::computeControl()
{
std::lock_guard<std::mutex> lock(dynamic_params_lock_);

auto start_time = this->now();

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RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");

try {
Expand Down Expand Up @@ -479,10 +481,13 @@ void ControllerServer::computeControl()
break;
}

auto cycle_duration = this->now() - start_time;

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if (!loop_rate.sleep()) {
RCLCPP_WARN(
get_logger(), "Control loop missed its desired rate of %.4fHz",
controller_frequency_);
get_logger(),
"Control loop missed its desired rate of %.4fHz. Current loop rate is %.4f Hz",
controller_frequency_, 1 / cycle_duration.seconds());
}
}
} catch (nav2_core::InvalidController & e) {
Expand Down Expand Up @@ -815,3 +820,4 @@ ControllerServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(nav2_controller::ControllerServer)

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