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Revert "nav2_controller: add loop rate log" #4210

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Merged
merged 1 commit into from
Mar 22, 2024
Merged

Revert "nav2_controller: add loop rate log" #4210

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7 changes: 2 additions & 5 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
Expand Down Expand Up @@ -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) {
Expand Down