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Use ControllerManager node clock for control loop timepoints #542

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Merged
destogl merged 3 commits into from
Sep 27, 2021
+7 −10
Merged

Use ControllerManager node clock for control loop timepoints #542

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42aa7ba
use time since epoch instead of time since session start
schornakj Sep 24, 2021
1311816
use ControllerManager node clock for control loop timepoints
schornakj Sep 24, 2021
7e3834b
simplify to use rclcpp::Time
schornakj Sep 27, 2021
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17 changes: 7 additions & 10 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,25 +40,22 @@ int main(int argc, char ** argv)
std::thread cm_thread([cm]() {
RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());

std::chrono::system_clock::time_point timepoint_start = std::chrono::system_clock::now();
std::chrono::system_clock::time_point begin = timepoint_start;
rclcpp::Time begin = cm->now();

// Use nanoseconds to avoid chrono's rounding
std::this_thread::sleep_for(std::chrono::nanoseconds(1000000000 / cm->get_update_rate()));
while (rclcpp::ok())
{
std::chrono::system_clock::time_point begin_last = begin;
begin = std::chrono::system_clock::now();
rclcpp::Time begin_last = begin;
begin = cm->now();
cm->read();
cm->update(
rclcpp::Time(
std::chrono::duration_cast<std::chrono::nanoseconds>(begin - timepoint_start).count()),
rclcpp::Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(begin - begin_last)));
cm->update(begin, begin - begin_last);
cm->write();
std::chrono::system_clock::time_point end = std::chrono::system_clock::now();
rclcpp::Time end = cm->now();
std::this_thread::sleep_for(std::max(
std::chrono::nanoseconds(0),
std::chrono::nanoseconds(1000000000 / cm->get_update_rate()) -
std::chrono::duration_cast<std::chrono::nanoseconds>(end - begin)));
std::chrono::nanoseconds(end.nanoseconds() - begin.nanoseconds())));
}
});

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