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[Controllers] Receive a valid period on the first update cycle #2572

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Merged
merged 2 commits into from
Oct 2, 2025
Merged

[Controllers] Receive a valid period on the first update cycle #2572

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fe199f5
[Controllers] Receive a valid period on the first update cycle
saikishor Sep 22, 2025
64b9ecb
Merge branch 'master' into get/valid_period/first_controller_update_c…
christophfroehlich Sep 22, 2025
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18 changes: 5 additions & 13 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2948,21 +2948,13 @@ controller_interface::return_type ControllerManager::update(
run_controller_at_cm_rate ? period
: rclcpp::Duration::from_seconds((1.0 / controller_update_rate));

bool first_update_cycle = false;
const bool first_update_cycle =
(*loaded_controller.last_update_cycle_time ==
rclcpp::Time(0, 0, this->get_trigger_clock()->get_clock_type()));
const rclcpp::Time current_time = get_clock()->started() ? get_trigger_clock()->now() : time;
if (
*loaded_controller.last_update_cycle_time ==
rclcpp::Time(0, 0, this->get_trigger_clock()->get_clock_type()))
{
// last_update_cycle_time is zero after activation
first_update_cycle = true;
*loaded_controller.last_update_cycle_time = current_time;
RCLCPP_DEBUG(
get_logger(), "Setting last_update_cycle_time to %fs for the controller : %s",
loaded_controller.last_update_cycle_time->seconds(), loaded_controller.info.name.c_str());
}
const auto controller_actual_period =
(current_time - *loaded_controller.last_update_cycle_time);
first_update_cycle ? controller_period
: (current_time - *loaded_controller.last_update_cycle_time);

const double error_now =
std::abs((controller_actual_period.seconds() * controller_update_rate) - 1.0);
Expand Down
14 changes: 10 additions & 4 deletions controller_manager/test/test_controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -472,8 +472,11 @@ TEST_P(TestControllerManagerWithStrictness, async_controller_lifecycle)
std::this_thread::sleep_for(
std::chrono::milliseconds(1000 / (test_controller->get_update_rate())));
EXPECT_EQ(test_controller->internal_counter, 1u);
EXPECT_EQ(test_controller->update_period_.seconds(), 0.0)
<< "The first trigger cycle should have zero period";
EXPECT_NEAR(
test_controller->update_period_.seconds(),
1.0 / (static_cast<double>(test_controller->get_update_rate())), 1.e-6)
<< "The first trigger cycle should have non-zero period to allow for integration in the "
"controllers";

const double exp_period = (cm_->get_trigger_clock()->now() - time_).seconds();
time_ = cm_->get_trigger_clock()->now();
Expand Down Expand Up @@ -1064,8 +1067,11 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
}
else
{
// Check that the first cycle update period is zero
EXPECT_EQ(test_controller->update_period_.seconds(), 0.0);
EXPECT_NEAR(
test_controller->update_period_.seconds(),
1.0 / (static_cast<double>(test_controller->get_update_rate())), 1.e-6)
<< "The first trigger cycle should have non-zero period to allow for integration in the "
"controllers";
}

if (update_counter > 0 && update_counter % cm_update_rate == 0)
Expand Down