Sleep accurate duration on ros2_control_node #302
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Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
destogl
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Jan 21, 2021
Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
bmagyar
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Jan 21, 2021
bmagyar
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Jan 25, 2021
mahaarbo
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Feb 4, 2021
* measure duration Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * fix lint Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp> * Apply suggestions from code review Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> * check sleep time is > 0 Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
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Current main loop of the
ros2_control_nodedoesn't cycle under correctupdate_ratebecause it ignores the computation time ofread,update, andwritemethods.This PR fixed the problem.
I know we won't need this PR if #260 would be solved but I need it now.