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Calculate achievable update rate of controllers (backport #2828) #2843

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1 change: 1 addition & 0 deletions controller_interface/include/controller_interface/controller_interface_params.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ struct ControllerInterfaceParams
std::string controller_name = "";
std::string robot_description = "";
unsigned int update_rate = 0;
unsigned int controller_manager_update_rate = 0;

std::string node_namespace = "";
rclcpp::NodeOptions node_options = rclcpp::NodeOptions();
Expand Down
45 changes: 40 additions & 5 deletions controller_interface/src/controller_interface_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ return_type ControllerInterfaceBase::init(
params.controller_name = controller_name;
params.robot_description = urdf;
params.update_rate = cm_update_rate;
params.controller_manager_update_rate = cm_update_rate;
params.node_namespace = node_namespace;
params.node_options = node_options;

Expand All @@ -62,11 +63,26 @@ return_type ControllerInterfaceBase::init(
ctrl_itf_params_.node_options,
false); // disable LifecycleNode service interfaces

if (ctrl_itf_params_.controller_manager_update_rate == 0 && ctrl_itf_params_.update_rate != 0)
{
RCLCPP_WARN(
node_->get_logger(), "%s",
fmt::format(
"The 'controller_manager_update_rate' variable of the ControllerInterfaceParams is unset "
"or set to 0 Hz while the 'update_rate' variable is set to a non-zero value of '{} Hz'. "
"Using the controller's update rate as the controller manager update rate. Please fix in "
"the tests by initializing the 'controller_manager_update_rate' instead of the "
"'update_rate' variable within the ControllerInterfaceParams struct",
ctrl_itf_params_.update_rate)
.c_str());
ctrl_itf_params_.controller_manager_update_rate = ctrl_itf_params_.update_rate;
}

try
{
// no rclcpp::ParameterValue unsigned int specialization
auto_declare<int>("update_rate", static_cast<int>(ctrl_itf_params_.update_rate));

auto_declare<int>(
"update_rate", static_cast<int>(ctrl_itf_params_.controller_manager_update_rate));
auto_declare<bool>("is_async", false);
auto_declare<int>("thread_priority", -100);
}
Expand Down Expand Up @@ -168,14 +184,33 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
get_node()->get_logger(), "%s",
fmt::format(
"The update rate of the controller : '{} Hz' cannot be higher than the update rate of "
"the "
"controller manager : '{} Hz'. Setting it to the update rate of the controller manager.",
"the controller manager : '{} Hz'. Setting it to the update rate of the controller "
"manager.",
update_rate, ctrl_itf_params_.update_rate)
.c_str());
}
else
{
ctrl_itf_params_.update_rate = static_cast<unsigned int>(update_rate);
if (update_rate > 0 && ctrl_itf_params_.controller_manager_update_rate > 0)
{
// Calculate the update rate corresponding the periodicity of the controller manager
const bool is_frequency_achievable = (ctrl_itf_params_.controller_manager_update_rate %
static_cast<unsigned int>(update_rate)) == 0;
const unsigned int ticks_per_controller_per_second = static_cast<unsigned int>(std::round(
static_cast<double>(ctrl_itf_params_.controller_manager_update_rate) /
static_cast<double>(update_rate)));
const unsigned int achievable_hz =
is_frequency_achievable
? static_cast<unsigned int>(update_rate)
: ctrl_itf_params_.controller_manager_update_rate / ticks_per_controller_per_second;

RCLCPP_WARN_EXPRESSION(
get_node()->get_logger(), !is_frequency_achievable,
"The requested update rate of '%ld Hz' is not achievable with the controller manager "
"update rate of '%d Hz'. Setting it to the closest achievable frequency '%d Hz'.",
update_rate, ctrl_itf_params_.controller_manager_update_rate, achievable_hz);
ctrl_itf_params_.update_rate = achievable_hz;
}
}
is_async_ = get_node()->get_parameter("is_async").as_bool();
}
Expand Down
16 changes: 9 additions & 7 deletions controller_interface/test/test_controller_interface.cpp
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Expand Up @@ -108,6 +108,7 @@ TEST(TestableControllerInterface, setting_update_rate_in_configure)
params.controller_name = TEST_CONTROLLER_NAME;
params.robot_description = "";
params.update_rate = 5000; // set a different update rate than the one in the node options
params.controller_manager_update_rate = 5000;
params.node_namespace = "";
params.node_options = node_options;
joint_limits::JointLimits joint_limits;
Expand Down Expand Up @@ -152,36 +153,37 @@ TEST(TestableControllerInterface, setting_update_rate_in_configure)

// Even after configure is 0
controller.configure();
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u) << "Needs to be achievable rate based on cm rate";

// Test updating of update_rate parameter
auto res = controller.get_node()->set_parameter(rclcpp::Parameter("update_rate", 623));
EXPECT_EQ(res.successful, true);
// Keep the same update rate until transition from 'UNCONFIGURED' TO 'INACTIVE' does not happen
controller.configure(); // No transition so the update rate should stay intact
ASSERT_NE(controller.get_update_rate(), 623u);
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u);

controller.get_node()->activate();
controller.configure(); // No transition so the update rate should stay intact
ASSERT_NE(controller.get_update_rate(), 623u);
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u);

controller.update(controller.get_node()->now(), rclcpp::Duration::from_seconds(0.1));
controller.configure(); // No transition so the update rate should stay intact
ASSERT_NE(controller.get_update_rate(), 623u);
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u);

controller.get_node()->deactivate();
controller.configure(); // No transition so the update rate should stay intact
ASSERT_NE(controller.get_update_rate(), 623u);
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u);

controller.get_node()->cleanup();
ASSERT_EQ(controller.get_update_rate(), 2812u);
ASSERT_EQ(controller.get_update_rate(), 2500u);
// It is first changed after controller is configured again.
controller.configure();
ASSERT_EQ(controller.get_update_rate(), 623u);
ASSERT_EQ(controller.get_update_rate(), 625u)
<< "It needs to be 625 as it is closest achievable rate wrt to the CM rate";

// Should stay same after multiple cleanups as it is set during initialization
const auto hard_limits_final = controller.get_hard_joint_limits();
Expand Down
1 change: 1 addition & 0 deletions controller_manager/src/controller_manager.cpp
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Expand Up @@ -2114,6 +2114,7 @@ controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::add_co
controller_params.controller_name = controller.info.name;
controller_params.robot_description = robot_description_;
controller_params.update_rate = get_update_rate();
controller_params.controller_manager_update_rate = get_update_rate();
controller_params.node_namespace = get_namespace();
controller_params.node_options = controller_node_options;
controller_params.hard_joint_limits = resource_manager_->get_hard_joint_limits();
Expand Down
8 changes: 4 additions & 4 deletions controller_manager/test/test_controller_manager.cpp
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Expand Up @@ -1030,18 +1030,18 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());

EXPECT_EQ(test_controller->get_update_rate(), ctrl_update_rate);
const auto cm_update_rate = cm_->get_update_rate();
const auto controller_update_rate = test_controller->get_update_rate();
const double controller_period = 1.0 / controller_update_rate;
const double exp_controller_period =
std::round((static_cast<double>(cm_update_rate) / controller_update_rate) - 0.01) /
cm_update_rate;
const auto exp_periodicity = 1.0 / exp_controller_period;
EXPECT_EQ(test_controller->get_update_rate(), std::floor(exp_periodicity));

const auto initial_counter = test_controller->internal_counter;
// don't start with zero to check if the period is correct if controller is activated anytime
rclcpp::Time time = time_;
const auto exp_periodicity = 1.0 / exp_controller_period;
for (size_t update_counter = 0; update_counter <= 10 * cm_update_rate; ++update_counter)
{
rclcpp::Time old_time = time;
Expand Down Expand Up @@ -1183,18 +1183,18 @@ TEST_F(TestAsyncControllerUpdateRates, check_the_async_controller_update_rate_an
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller->get_lifecycle_state().id());

EXPECT_EQ(test_controller->get_update_rate(), ctrl_update_rate);
const auto cm_update_rate = cm_->get_update_rate();
const auto controller_update_rate = test_controller->get_update_rate();
const double controller_period = 1.0 / controller_update_rate;
const double exp_controller_period =
std::round((static_cast<double>(cm_update_rate) / controller_update_rate) - 0.01) /
cm_update_rate;
const auto exp_periodicity = 1.0 / exp_controller_period;
EXPECT_EQ(test_controller->get_update_rate(), std::round(exp_periodicity));

const auto initial_counter = test_controller->internal_counter;
// don't start with zero to check if the period is correct if controller is activated anytime
rclcpp::Time time = time_;
const auto exp_periodicity = 1.0 / exp_controller_period;
for (size_t update_counter = 0; update_counter <= 10 * cm_update_rate; ++update_counter)
{
rclcpp::Time old_time = time;
Expand Down
1 change: 1 addition & 0 deletions doc/release_notes.rst
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Expand Up @@ -32,6 +32,7 @@ For details see the controller_manager section.
* The new semantic command interface ``LedRgbDevice`` provides standard (command) interfaces for 3-channel LED devices (`#1945 <https://github.com/ros-controls/ros2_control/pull/1945>`_)
* The new ``MagneticFieldSensor`` semantic component provides an interface for reading data from magnetometers. `(#2627 <https://github.com/ros-controls/ros2_control/pull/2627>`__)
* The controller_manager will now deactivate the entire controller chain if a controller in the chain fails during the update cycle. `(#2681 <https://github.com/ros-controls/ros2_control/pull/2681>`__)
* The update rate of the controller will now be approximated to a closer achievable frequency, when its frequency is not achievable with the current controller manager update rate. (`#2828 <https://github.com/ros-controls/ros2_control/pull/2828>`__)

controller_manager
******************
Expand Down