minor rebase corrections #2

VX792 · Sep 9, 2021 · febf658 · febf658
1 parent 64ebdbe
commit febf658
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Showing 3 changed files with 12 additions and 2 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -155,6 +155,8 @@ class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleN
   std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
   std::shared_ptr<rclcpp::Node> node_;
   rclcpp_lifecycle::State lifecycle_state_;
+  int update_rate_ = 0;
+
 };
 
 using ControllerInterfaceSharedPtr = std::shared_ptr<ControllerInterface>;

diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -64,6 +64,9 @@ const rclcpp_lifecycle::State & ControllerInterface::configure()
       case LifecycleNodeInterface::CallbackReturn::FAILURE:
         break;
     }
+
+    update_rate_ = node_->get_parameter("update_rate").as_int();
+
   }
   return lifecycle_state_;
 }
@@ -170,4 +173,10 @@ std::shared_ptr<rclcpp::Node> ControllerInterface::get_node()
   return node_;
 }
 
+int ControllerInterface::get_update_rate() const
+{
+  return update_rate_;
+}
+
+
 }  // namespace controller_interface
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1152,9 +1152,8 @@ controller_interface::return_type ControllerManager::update()
     rt_controllers_wrapper_.update_and_get_used_by_rt_list();
 
   auto ret = controller_interface::return_type::OK;
-  int main_update_rate = 100;
   update_loop_counter_ += 1;
-  update_loop_counter_ %= main_update_rate;
+  update_loop_counter_ %= update_rate_;
 
   for (auto loaded_controller : rt_controller_list) {
     // TODO(v-lopez) we could cache this information