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Don't perform catch-up behavior in ros2_control_node #802

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Don't perform catch-up behavior in ros2_control_node #802

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83a2a4e
Don't perform catch-up behavior in ros2_control_node
tylerjw Aug 17, 2022
f8e675f
Fix types for time
tylerjw Aug 17, 2022
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8 changes: 8 additions & 0 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,14 @@ int main(int argc, char ** argv)

// wait until we hit the end of the period
next_iteration_time += period;

// Don't do catch-up
if (auto now = std::chrono::system_clock::time_point(
std::chrono::nanoseconds(cm->now().nanoseconds()));
next_iteration_time < now)
{
next_iteration_time = now + period;
}
std::this_thread::sleep_until(next_iteration_time);
}
});
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