Constently getting warn about "Increase update_rate parameter for controller_manager to 500 Hz or more "

[Taokt]

I always get this WARN:Increase update_rate parameter for controller_manager to 500 Hz or more every time when I launch the robot and after the connection is built:

...
[spawner-6] [INFO] [1751879036.355015059] [lbr.spawner_lbr_state_broadcaster]: Configured and activated lbr_state_broadcaster
[spawner-5] [INFO] [1751879036.359479889] [lbr.spawner_force_torque_broadcaster]: Configured and activated force_torque_broadcaster
[ros2_control_node-3] [INFO] [1751879036.363134735] [lbr.kuka_cartesian_impedance_controller]: Getting interfaces
[ros2_control_node-3] [INFO] [1751879036.363198507] [lbr.kuka_cartesian_impedance_controller]: Finished getting command interfaces
[ros2_control_node-3] [INFO] [1751879036.363303465] [lbr.kuka_cartesian_impedance_controller]: Finished getting state interfaces
[ros2_control_node-3] [INFO] [1751879036.363332667] [lbr.kuka_cartesian_impedance_controller]: Finished Base on_activate
[ros2_control_node-3] [INFO] [1751879036.363361652] [lbr.kuka_cartesian_impedance_controller]: Finished Impedance on_activate
[ros2_control_node-3] [INFO] [1751879036.363424059] [lbr.kuka_cartesian_impedance_controller]: Starting pose:  0.921363  0.886512  0.208036  0.114858 0.0715622 -0.761067   -1.1847
[spawner-4] [INFO] [1751879036.363523298] [lbr.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-7] [INFO] [1751879036.366763448] [lbr.spawner_kuka_cartesian_impedance_controller]: Configured and activated kuka_cartesian_impedance_controller
[ros2_control_node-3] [WARN] [1751879036.368384010] [lbr_ros2_control::SystemInterface]: Increase update_rate parameter for controller_manager to 500 Hz or more
[INFO] [spawner-6]: process has finished cleanly [pid 88413]
[INFO] [spawner-5]: process has finished cleanly [pid 88411]
[INFO] [spawner-4]: process has finished cleanly [pid 88409]
[INFO] [spawner-7]: process has finished cleanly [pid 88417]
[ros2_control_node-3] [WARN] [1751879043.130036493] [lbr_ros2_control::SystemInterface]: Increase update_rate parameter for controller_manager to 500 Hz or more
[ros2_control_node-3] [WARN] [1751879043.133054930] [lbr_ros2_control::SystemInterface]: Increase update_rate parameter for controller_manager to 500 Hz or more
[ros2_control_node-3] [WARN] [1751879043.136469248] [lbr_ros2_control::SystemInterface]: Increase update_rate parameter for controller_manager to 500 Hz or more
...

And it keeps rolling as long as the bringup is running. For now, the connection to the robot would always break after a random time period, and I am suspecting this WARN has something to do with it. I have tried change the update rate parameter at lbr_stack/lbr_description/ros2_control/lbr_controllers.yaml as:

/**/controller_manager:
  ros__parameters:
    update_rate: 500
...

But it does not real help. Any idea what could be the issue?

[mhubii]

Hi @Taokt, yes this is an issue people seem to be having. You can try commenting out the warning stream for now (which causes a delay itself):

lbr_fri_ros2_stack/lbr_ros2_control/src/system_interface.cpp

Line 284 in 582fbb0

if (period.seconds() - hw_lbr_state_.sample_time * 0.2 > hw_lbr_state_.sample_time) {

Or increase the update_rate to higher values

Let me know if this helps. This requires some investigation. Likely to be fixed in #271.