Throttled overrun prints don't seem to be throttled properly

[bmagyar]

Describe the bug
Throttling the warnings about overruns doesn't seem to work reliably.
It is not a huge issue but it can be annoying. I often get 2 prints each second but also saw cases of 1 and 3.

We may need to explore using a different clock.

Expected behavior
There should be at most 1 message per second.
The RCLCPP_WARN_THROTTLED print here should throttle the messages to 1000ms = 1 second.

Screenshots
[WARN] [1747395233.440807556] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.895488 ms (missed cycles : 2).
[WARN] [1747395233.450173719] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.263731 ms (missed cycles : 2).
[WARN] [1747395234.114839063] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.927795 ms (missed cycles : 2).
[WARN] [1747395234.134072793] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.161909 ms (missed cycles : 2).
[WARN] [1747395235.112376698] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.466102 ms (missed cycles : 2).
[WARN] [1747395235.122050666] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 500 Hz. The loop took 2.139334 ms (missed cycles : 2).

Environment (please complete the following information):

• OS: Ubuntu 24.04
• Version Jazzy 4.29.0
• Docker container

Additional context
No custom changes

[InigoMoreno]

Experiencing the same issue, it is almost impossible to read the logs.

[saikishor]

Experiencing the same issue, it is almost impossible to read the logs.

@InigoMoreno what distro are you using? And at what frequency are you running your controller_manager?

[SteMuc]

Hi, I'm experiencing the same issue.
[ros2_control_node-1] [WARN] [1749827164.547201688] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 50 Hz. The loop took 76.312262 ms (missed cycles : 4).
Has the problem been solved?

Thank you very much.

[saikishor]

Hi, I'm experiencing the same issue.
[ros2_control_node-1] [WARN] [1749827164.547201688] [controller_manager]: Overrun detected! The controller manager missed its desired rate of 50 Hz. The loop took 76.312262 ms (missed cycles : 4).
Has the problem been solved?

Thank you very much.

Hello @SteMuc !

You have the throttling issue? Or it's just printing it?
The logs you shared don't give much information about it.

[InigoMoreno]

Experiencing the same issue, it is almost impossible to read the logs.

@InigoMoreno what distro are you using? And at what frequency are you running your controller_manager?

Sorry for the late answer, I am also using ROS jazzy and the frequency is also 500hz.