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

ARK3r · SteveMacenski · Marc-Morcos · commit 0a85b4986f11 · 2024-07-04T12:04:16.000-04:00
* update smac_planner README

Signed-off-by: ARK3r &lt;kermani.areza@gmail.com&gt;

* added current controller loop rate logging

Signed-off-by: ARK3r &lt;kermani.areza@gmail.com&gt;

* linting

Signed-off-by: ARK3r &lt;kermani.areza@gmail.com&gt;

* uncrustify lint

Signed-off-by: ARK3r &lt;kermani.areza@gmail.com&gt;

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;

---------

Signed-off-by: ARK3r &lt;kermani.areza@gmail.com&gt;
Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
Co-authored-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -424,6 +424,7 @@ 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 {

Original file line number	Diff line number	Diff line change
`@@ -424,6 +424,7 @@ void ControllerServer::computeControl()`
`424`	`424`	`{`
`425`	`425`	`std::lock_guard<std::mutex> lock(dynamic_params_lock_);`
`426`	`426`
	`427`	`+ auto start_time = this->now();`
`427`	`428`	`RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");`
`428`	`429`
`429`	`430`	`try {`