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[Base] check the execution time of main loop #578

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[Base] check the execution time of main loop #578

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5f84ed9
[aerial_robot_base] add a checker for the main loop's execution time
Li-Jinjie Nov 25, 2023
8d90df4
[aerial_robot_base] modify ~ to ! to express negative; add comment fo…
Li-Jinjie Feb 1, 2024
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3 changes: 3 additions & 0 deletions aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,9 @@ class AerialRobotBase
void mainFunc(const ros::TimerEvent & e);

private:
bool param_verbose_;
double main_rate_;

ros::NodeHandle nh_;
ros::NodeHandle nhp_;
ros::Timer main_timer_;
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28 changes: 18 additions & 10 deletions aerial_robot_base/src/aerial_robot_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,8 @@ AerialRobotBase::AerialRobotBase(ros::NodeHandle nh, ros::NodeHandle nh_private)
navigator_loader_("aerial_robot_control", "aerial_robot_navigation::BaseNavigator")
{

bool param_verbose;
nhp_.param ("param_verbose", param_verbose, true);

double main_rate;
nhp_.param ("main_rate", main_rate, 0.0);
nhp_.param ("param_verbose", param_verbose_, true);
nhp_.param ("main_rate", main_rate_, 0.0);

// robot model
robot_model_ros_ = boost::make_shared<aerial_robot_model::RobotModelRos>(nh_, nhp_);
Expand Down Expand Up @@ -38,29 +35,29 @@ AerialRobotBase::AerialRobotBase(ros::NodeHandle nh, ros::NodeHandle nh_private)
ROS_DEBUG("use default class for flight navigation: aerial_robot_navigation::BaseNavigator");
navigator_ = boost::make_shared<aerial_robot_navigation::BaseNavigator>();
}
navigator_->initialize(nh_, nhp_, robot_model, estimator_, 1 / main_rate);
navigator_->initialize(nh_, nhp_, robot_model, estimator_, 1 / main_rate_);

// controller
try
{
std::string aerial_robot_control_name;
nh_.param ("aerial_robot_control_name", aerial_robot_control_name, std::string("aerial_robot_control/flatness_pid"));
controller_ = controller_loader_.createInstance(aerial_robot_control_name);
controller_->initialize(nh_, nhp_, robot_model, estimator_, navigator_, 1 / main_rate);
controller_->initialize(nh_, nhp_, robot_model, estimator_, navigator_, 1 / main_rate_);
}
catch(pluginlib::PluginlibException& ex)
{
ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
}

if(param_verbose) cout << nhp_.getNamespace() << ": main_rate is " << main_rate << endl;
if(main_rate <= 0)
if(param_verbose_) cout << nhp_.getNamespace() << ": main_rate is " << main_rate_ << endl;
if(main_rate_ <= 0)
ROS_ERROR_STREAM("mian rate is negative, can not run the main timer");
else
{
// note1: separate the thread for main control (including navigation) loop to guarantee a relatively stable loop rate

ros::TimerOptions ops(ros::Duration(1.0 / main_rate),
ros::TimerOptions ops(ros::Duration(1.0 / main_rate_),
boost::bind(&AerialRobotBase::mainFunc, this, _1),
&main_loop_queue_);
main_timer_ = nhp_.createTimer(ops);
Expand All @@ -87,6 +84,17 @@ AerialRobotBase::~AerialRobotBase()

void AerialRobotBase::mainFunc(const ros::TimerEvent & e)
{
if (!e.last_real.isZero())
{
double dt_real = e.current_real.toSec() - e.last_real.toSec();
double tolerance = 0.05; // 5% tolerance. This value is set based on experience.
double dt_desire = (1.0 + tolerance) * 1.0 / main_rate_;
if (dt_real > dt_desire)
{
ROS_WARN("main loop rate is too low: (ts_real) %f s > (ts_desire with %2f%% tolerance) %f s ", dt_real,
tolerance * 100, dt_desire);
}
}
navigator_->update();
controller_->update();
}
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