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added a fixed control period to loop (backport #647) #651

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Merged
bmagyar merged 2 commits into from
Feb 23, 2022
Merged

added a fixed control period to loop (backport #647) #651

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65f032c
added a fixed control period to loop (#647)
Feb 16, 2022
1184cd0
Fix foxy backport.
destogl Feb 22, 2022
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16 changes: 10 additions & 6 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,17 +48,21 @@ int main(int argc, char ** argv)
}
RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", update_rate);

rclcpp::Time end_period = cm->now();

// Use nanoseconds to avoid chrono's rounding
rclcpp::Duration period(std::chrono::nanoseconds(1000000000 / update_rate));

while (rclcpp::ok())
{
std::chrono::system_clock::time_point begin = std::chrono::system_clock::now();
// wait until we hit the end of the period
end_period += period;
std::this_thread::sleep_for(std::chrono::nanoseconds((end_period - cm->now()).nanoseconds()));

// execute "real-time" update loop
cm->read();
cm->update();
cm->write();
std::chrono::system_clock::time_point end = std::chrono::system_clock::now();
std::this_thread::sleep_for(std::max(
std::chrono::nanoseconds(0),
std::chrono::nanoseconds(1000000000 / update_rate) -
std::chrono::duration_cast<std::chrono::nanoseconds>(end - begin)));
}
});

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