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Fix the CM statistics async publish placement (backport #2865) #2868

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Merged
saikishor merged 1 commit into from
Nov 29, 2025
Merged

Fix the CM statistics async publish placement (backport #2865) #2868

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6 changes: 3 additions & 3 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3237,7 +3237,6 @@ controller_interface::return_type ControllerManager::update(
}

PUBLISH_ROS2_CONTROL_INTROSPECTION_DATA_ASYNC(hardware_interface::DEFAULT_REGISTRY_KEY);
PUBLISH_ROS2_CONTROL_INTROSPECTION_DATA_ASYNC(hardware_interface::CM_STATISTICS_KEY);

execution_time_.update_time =
std::chrono::duration<double, std::micro>(std::chrono::steady_clock::now() - start_time)
Expand Down Expand Up @@ -3339,8 +3338,7 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
"Overrun might occur, Total time : %.3f us (Expected < %.3f us) --> Read time : %.3f us, "
"Update time : %.3f us (Switch time : %.3f us (Switch chained mode time : %.3f us, perform "
"mode change time : %.3f us, Activation time : %.3f us, Deactivation time : %.3f us)), "
"Write "
"time : %.3f us",
"Write time : %.3f us",
execution_time_.total_time, expected_cycle_time, execution_time_.read_time,
execution_time_.update_time, execution_time_.switch_time,
execution_time_.switch_chained_mode_time, execution_time_.switch_perform_mode_time,
Expand All @@ -3357,6 +3355,8 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
execution_time_.update_time, execution_time_.write_time);
}
}

PUBLISH_ROS2_CONTROL_INTROSPECTION_DATA_ASYNC(hardware_interface::CM_STATISTICS_KEY);
}

std::vector<ControllerSpec> &
Expand Down