From 197eb535f51a91e7a0b5300569bcfb347614faeb Mon Sep 17 00:00:00 2001
From: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Date: Tue, 19 Mar 2024 16:19:16 +0100
Subject: [PATCH] Address review comment by making a log throttle

---
 nav2_controller/src/controller_server.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index be1d5cdaf42..ac885a68c38 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -452,7 +452,6 @@ void ControllerServer::computeControl()
 
     last_valid_cmd_time_ = now();
     rclcpp::WallRate loop_rate(controller_frequency_);
-    bool cancelling = false;
     while (rclcpp::ok()) {
       if (action_server_ == nullptr || !action_server_->is_server_active()) {
         RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping.");
@@ -466,10 +465,9 @@ void ControllerServer::computeControl()
           publishZeroVelocity();
           return;
         } else {
-          if (!cancelling) {
-            RCLCPP_INFO(get_logger(), "Goal was canceled. Trying to stop the robot.");
-            cancelling = true;
-          }
+          RCLCPP_INFO_THROTTLE(
+            get_logger(),
+            *get_clock(), 1000, "Goal was canceled. Trying to stop the robot.");
         }
       }