From 12efdef0cb32ecdc6e72c9644872a39a6024b709 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Mon, 11 Nov 2024 20:02:59 +0100 Subject: [PATCH] Update documentation --- controller_manager/doc/userdoc.rst | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index 259c371ff8..f5b340cfb4 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -100,19 +100,19 @@ update_rate (mandatory; integer) It is recommended to test the fallback strategy in simulation before deploying it on the real robot. diagnostics.threshold.controller_manager.periodicity.mean_error.warn - The warning threshold for the mean error of the controller manager update loop. + The warning threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, a warning diagnostic will be published. diagnostics.threshold.controller_manager.periodicity.mean_error.error - The error threshold for the mean error of the controller manager update loop. + The error threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, an error diagnostic will be published. diagnostics.threshold.controller_manager.periodicity.standard_deviation.warn - The warning threshold for the standard deviation of the controller manager update loop. + The warning threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, a warning diagnostic will be published. diagnostics.threshold.controller_manager.periodicity.standard_deviation.error - The error threshold for the standard deviation of the controller manager update loop. + The error threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, an error diagnostic will be published. diagnostics.threshold.controllers.periodicity.mean_error.warn @@ -147,6 +147,11 @@ diagnostics.threshold.controllers.execution_time.standard_deviation.error The error threshold for the standard deviation of the controller execution time. If the standard deviation exceeds this threshold, an error diagnostic will be published. +.. note:: + The ``periodicity`` diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity. + + The ``execution_time`` diagnostics will be published for all controllers. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle. + Handling Multiple Controller Managers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^