Add control_frequency_desired param #20
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February 1, 2016 10:23
…h_time Separate odom tf publish time
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This PR is on top of #19
This adds the
control_frequency_desiredparam, which specifies the desired or expected control frequency.0.0, meaning that the actual control frequency (as provided in theupdatemethodperiodargument) is used.> 0.0, the desired/expected frequency (period) is used instead.This should help when the time jitter is very high, and also allows to compare the desired vs. actual control period using the controller state, which is extended in this PR to include them.
@paulbovbel @afakihcpr