[Base] check the execution time of main loop #578
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tongtybj
requested changes
Nov 28, 2023
| @@ -87,6 +84,17 @@ AerialRobotBase::~AerialRobotBase() | |||
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| void AerialRobotBase::mainFunc(const ros::TimerEvent & e) | |||
| { | |||
| if (~e.last_real.isZero()) | |||
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Because isZero returns a boolean value, please use ! (exclamation mark) for negation. ~ (tilde mark) is for bit-wise operation.
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fix this in the newest commit
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Could you respond the review comment? |
Sorry, I will check it tonight. Don't know why I missed the reminder from GitHub... |
…r tolerance selection
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What is this
The real execution time for the main loop is super critical. However, some optimization-based methods (e.g. MPC) might take longer time to execute the loop once. So I add some code to monitor this time, and if the real execution time is longer than tolerance, ROS_WARN will be printed.