This PR contains various small changes added while bringing up a real hardware configuration. Each commit should be self explanatory. I can break this up into smaller PRs if desired. Here's a summary:
Remove the sleep() call during controller node setup; the segfaults this prevented magically stopped since it was first introduced
Add HAL pins to the controller node for showing the max execution time of controller manager read()/update()/write() calls; this helped locate RT overruns in ros2_controllers
Unload HAL user components at shutdown (e.g. lcec_conf)
Make Python HAL pin value change logging optional; avoids a lot of console spamming for some configurations
This PR contains various small changes added while bringing up a real hardware configuration. Each commit should be self explanatory. I can break this up into smaller PRs if desired. Here's a summary:
sleep()call during controller node setup; the segfaults this prevented magically stopped since it was first introducedread()/update()/write()calls; this helped locate RT overruns inros2_controllerslcec_conf)