Controllers should not be influenced by time jumps or slew

nav2_controller/src/nav2_controller.cpp

@@ -283,7 +283,7 @@ void ControllerServer::computeControl()
     setPlannerPath(action_server_->get_current_goal()->path);
     progress_checker_->reset();
 
-    rclcpp::Rate loop_rate(controller_frequency_);
+    rclcpp::WallRate loop_rate(controller_frequency_);
     while (rclcpp::ok()) {
       if (action_server_ == nullptr || !action_server_->is_server_active()) {
         RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping.");

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -382,7 +382,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
 
   RCLCPP_DEBUG(get_logger(), "Entering loop");
 
-  rclcpp::Rate r(frequency);    // 200ms by default
+  rclcpp::WallRate r(frequency);    // 200ms by default
 
   while (rclcpp::ok() && !map_update_thread_shutdown_) {
     nav2_util::ExecutionTimer timer;

nav2_recoveries/include/nav2_recoveries/recovery.hpp

@@ -197,7 +197,7 @@ class Recovery : public nav2_core::Recovery
     // Initialize the ActionT result
     auto result = std::make_shared<typename ActionT::Result>();
 
-    rclcpp::Rate loop_rate(cycle_frequency_);
+    rclcpp::WallRate loop_rate(cycle_frequency_);
 
     while (rclcpp::ok()) {
       if (action_server_->is_cancel_requested()) {

nav2_waypoint_follower/src/waypoint_follower.cpp

@@ -132,7 +132,7 @@ WaypointFollower::followWaypoints()
     return;
   }
 
-  rclcpp::Rate r(loop_rate_);
+  rclcpp::WallRate r(loop_rate_);
   uint32_t goal_index = 0;
   bool new_goal = true;