feat: adds enable_overrun parameter to CM #2540
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## jazzy #2540 +/- ##
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This pull request is in conflict. Could you fix it @BarisYazici? |
Introduces a new parameter `enable_overrun` to the controller manager, allowing users to disable the overrun detection and warning mechanism. This parameter defaults to true, maintaining the existing behavior.
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| cm->get_clock()->sleep_until(current_time + period); | ||
| } | ||
| else | ||
| else if(enable_overrun) |
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With this we are simply removing the needed sleep too. Is this intended?
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Yes, as stated in your PR -> It seems to be 'impossible' (without more complicated hardware setups), to have a synced loop. Aka, relative to my notebook, the master controller of the robot doesn't run with 1000 hz but in the example yesterday with 1003 hz. Hence, the sleep only works against us but not for us...
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IMO, I don't think that part should ever be removed. Sleep is the one that ensures the frequency for everyone.
Based on the issue #2529, wanted make it more concrete with the draft PR.
The problem is for Franka robots the read function will be blocking until there is a response from the robot. So the read function will already dictates the control loop frequency. In general for Franka robots, we wouldn't need to even sleep in the ros2_control_node.
Introduces a new parameter
enable_overrunto the controller manager, allowing users to disable the overrun detection and warning mechanism. This parameter defaults to true, maintaining the existing behavior.Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
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