[Example 1] Print rw_rate (#729)

ros-controls · Mar 4, 2025 · 999824e · 999824e
1 parent 9831630
commit 999824e
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diff --git a/example_1/hardware/rrbot.cpp b/example_1/hardware/rrbot.cpp
@@ -42,6 +42,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init(
   hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
   hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
   hw_slowdown_ = stod(info_.hardware_parameters["example_param_hw_slowdown"]);
+  RCLCPP_INFO(get_logger(), "Robot hardware_component update_rate is %dHz", info_.rw_rate);
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   for (const hardware_interface::ComponentInfo & joint : info_.joints)