Add loop jitter to diagnostics from "Realtime Control Loop" (ros ticket #4782)

PR2 / pr2_ethercat_drivers

Drivers for the ethercat system and the peripherals on the PR2.

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Add loop jitter to diagnostics from "Realtime Control Loop" (ros ticket #4782) #39

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

We should add a field to the diagnostics for jitter in the RT loop, which we can measure in microseconds.

trac data:

Owner: dking
Reporter: watts
Reported at: Wed Oct 13 15:02:02 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4782

ahendrix commented 11 years ago

[watts] It looks like there is an existing "rtpublisher" in pr2_etherCAT that publishes on "pr2_etherCAT/realtime" when a secret command line option is set.

I enabled the command line option to be set, and published the average and maximum jitter to the diagnostics in r48206.

Derek, can you look this over?

ahendrix commented 11 years ago

[dking] r48255 and r48274. Reverted some of the changes from r48206.
Left in:

The command line option to publish jitter to ROS topic
The addition of average and maximum jitter to diagnostics