Skip to content

Pre-allocate rclcpp::Time's in the main loop #640

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
AndyZe wants to merge 1 commit into from
Closed

Pre-allocate rclcpp::Time's in the main loop #640

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 4 additions & 2 deletions controller_manager/src/ros2_control_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,17 +41,19 @@ int main(int argc, char ** argv)
RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());

rclcpp::Time begin = cm->now();
rclcpp::Time begin_last(begin);
rclcpp::Time end(begin);

// Use nanoseconds to avoid chrono's rounding
std::this_thread::sleep_for(std::chrono::nanoseconds(1000000000 / cm->get_update_rate()));
while (rclcpp::ok())
{
rclcpp::Time begin_last = begin;
begin_last = begin;
begin = cm->now();
cm->read();
cm->update(begin, begin - begin_last);
cm->write();
rclcpp::Time end = cm->now();
end = cm->now();
std::this_thread::sleep_for(std::max(
std::chrono::nanoseconds(0),
std::chrono::nanoseconds(1000000000 / cm->get_update_rate()) -
Expand Down