@tonynajjar, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

I sometimes get frequencies higher than the target one. Any idea why? Maybe because I'm using a separate clock?

Thanks for the addition, I agree, this is useful information!

Just waiting on CI

I believe I fixed the linting issues, but before merging, do you have any idea why it sometimes print frequencies higher than the target frequency? If we are in that condition, the frequency shouldn't be higher... See above screenshot in case you missed it

I'd say first try nanoseconds rather than microseconds to give you more resolution, then try the high resolution clock[1], if that doesn't work, the ROS Steady Clock[2]. If it doesn't work by then, I can take a look. ROS Clock is probably the right move, but its worth trying those other options first to see if its a resolution issue, but it might be a time source issue.

[1] https://en.cppreference.com/w/cpp/chrono/high_resolution_clock

[2] https://github.com/ros-planning/navigation2/blob/f1d58abacc5b97a3398e805635c89f2312f469f7/nav2_planner/include/nav2_planner/planner_server.hpp#L241

on it

I applied all your suggestions but still same result...

I commited the version with the ROS clock. I'm still investigating

I give up 🤷‍♂️ I can't find anything wrong with the PR, maybe that's really the achieved rate. This could be related https://answers.ros.org/question/244688/frequency-of-c-while-loop-higher-than-desired/?

It doesn't seem like this is something we should merge if it doesn't strictly speaking... work 😦

I actually agree, unless the wallrate is actually unstable and this only exposes that. I doubt it though, will investigate a bit more tomorrow

I can't find what's wrong and can't spend more time on it. I'm fine to close this PR if you want

OK ☹️ I understand.