set the controller's update rate if the node's update_rate parameter is undefined, and make precommit happy

Author: VX792

controller_interface/src/controller_interface.cpp

@@ -65,7 +65,14 @@ const rclcpp_lifecycle::State & ControllerInterface::configure()
         break;
     }
 
-    update_rate_ = node_->get_parameter("update_rate").as_int();
+    if (node_->has_parameter("update_rate"))
+    {
+      update_rate_ = node_->get_parameter("update_rate").as_int();
+    }
+    else
+    {
+      update_rate_ = 0;
+    }
   }
   return lifecycle_state_;
 }

controller_manager/include/controller_manager/controller_manager.hpp

@@ -144,7 +144,7 @@ class ControllerManager : public rclcpp::Node
   // the executor (see issue #260).
   // rclcpp::CallbackGroup::SharedPtr deterministic_callback_group_;
 
-  //Per controller update rate support
+  // Per controller update rate support
   unsigned int get_update_rate() const;
   void configure();
 
@@ -223,7 +223,7 @@ class ControllerManager : public rclcpp::Node
     const std::shared_ptr<controller_manager_msgs::srv::UnloadController::Request> request,
     std::shared_ptr<controller_manager_msgs::srv::UnloadController::Response> response);
 
-  //Per controller update rate support
+  // Per controller update rate support
   unsigned int update_loop_counter_ = 0;
   unsigned int update_rate_ = 100;
 

controller_manager/scripts/__pycache__/spawner.cpython-38.pyc

@@ -22,6 +22,7 @@
 #include <memory>
 #include <string>
 #include <thread>
+#include <utility>
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"

controller_manager/test/controller_manager_test_common.hpp

@@ -171,7 +171,7 @@ TEST_F(TestControllerManager, per_controller_update_rate)
     controller_interface::return_type::OK,
     cm_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)));
   EXPECT_GE(test_controller->internal_counter, 1u);
-  EXPECT_EQ(test_controller->get_update_rate(), 4);
+  EXPECT_EQ(test_controller->get_update_rate(), 4u);
 }
 /* WIP
 TEST_F(TestControllerManager, inactive_controller_does_not_get_updated)

controller_manager/test/test_controller_manager.cpp

@@ -589,5 +589,5 @@ TEST_F(TestLoadController, can_set_and_get_non_default_update_rate)
   cm_->configure_controller("test_controller_01");
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, controller_if->get_state().id());
 
-  EXPECT_EQ(1337, controller_if->get_update_rate());
+  EXPECT_EQ(1337u, controller_if->get_update_rate());
 }