[Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager #1871
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arne48,
bmagyar,
christophfroehlich,
mcbed,
moriarty,
VanshGehlot and
VX792
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I successfully tested the new diagnostics with the demos (synchronous controllers), but as I haven't used them much a note for myself (would have been valid with #1764 already)
- per default, /diagnostics is sent with 1Hz by the Updater, we don't set a different value in the CM's constructor
- diagnostics_updater_ lives in a non RT-thread, and so do also the callback methods.
One comment as we are adding more and more parameters: Would it make sense to use generate_parameter_library also for the CM? I think we can't use it for the per-controller parameters because maps do not work well here, and there is no way to "namespace" parameters with GPL. But for the others?
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@christophfroehlich yes, I thought of using the GPL for this, but I wanted to see your opinion here before taking any decision. I'm open to having this |
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This PR aims to add diagnostics to the controller_manager and the loaded controllers regarding their periodicity and execution time.
Needs: ros-controls/realtime_tools#192
The diagnostics should kinda look like the following screenshots (The following are only to look at the summary):