Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210)

SteveMacenski · Manos-G · commit 9445681365c7 · 2024-08-01T21:38:58.000+03:00
This reverts commit 4737462.
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -419,7 +419,6 @@ void ControllerServer::computeControl()
 {
   std::lock_guard<std::mutex> lock(dynamic_params_lock_);
 
-  auto start_time = this->now();
   RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");
 
   try {
@@ -480,12 +479,10 @@ void ControllerServer::computeControl()
         break;
       }
 
-      auto cycle_duration = this->now() - start_time;
       if (!loop_rate.sleep()) {
         RCLCPP_WARN(
-          get_logger(),
-          "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.",
-          controller_frequency_, 1 / cycle_duration.seconds());
+          get_logger(), "Control loop missed its desired rate of %.4fHz",
+          controller_frequency_);
       }
     }
   } catch (nav2_core::InvalidController & e) {

Original file line number	Diff line number	Diff line change
`@@ -419,7 +419,6 @@ void ControllerServer::computeControl()`
`419`	`419`	`{`
`420`	`420`	`std::lock_guard<std::mutex> lock(dynamic_params_lock_);`
`421`	`421`
`422`		`- auto start_time = this->now();`
`423`	`422`	`RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");`
`424`	`423`
`425`	`424`	`try {`
`@@ -480,12 +479,10 @@ void ControllerServer::computeControl()`
`480`	`479`	`break;`
`481`	`480`	`}`
`482`	`481`
`483`		`- auto cycle_duration = this->now() - start_time;`
`484`	`482`	`if (!loop_rate.sleep()) {`
`485`	`483`	`RCLCPP_WARN(`
`486`		`- get_logger(),`
`487`		`- "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.",`
`488`		`- controller_frequency_, 1 / cycle_duration.seconds());`
	`484`	`+ get_logger(), "Control loop missed its desired rate of %.4fHz",`
	`485`	`+ controller_frequency_);`
`489`	`486`	`}`
`490`	`487`	`}`
`491`	`488`	`} catch (nav2_core::InvalidController & e) {`