Remove controller_frequency as dynamic parameter

Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com>

Author: Nils-ChristianIseke

nav2_controller/src/controller_server.cpp

@@ -860,9 +860,7 @@ ControllerServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> param
     }
 
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
-      if (param_name == "controller_frequency") {
-        controller_frequency_ = parameter.as_double();
-      } else if (param_name == "min_x_velocity_threshold") {
+      if (param_name == "min_x_velocity_threshold") {
         min_x_velocity_threshold_ = parameter.as_double();
       } else if (param_name == "min_y_velocity_threshold") {
         min_y_velocity_threshold_ = parameter.as_double();

nav2_controller/test/test_dynamic_parameters.cpp

@@ -62,8 +62,7 @@ TEST(WPTest, test_dynamic_parameters)
     controller->get_node_services_interface());
 
   auto results = rec_param->set_parameters_atomically(
-    {rclcpp::Parameter("controller_frequency", 100.0),
-      rclcpp::Parameter("min_x_velocity_threshold", 100.0),
+    {rclcpp::Parameter("min_x_velocity_threshold", 100.0),
       rclcpp::Parameter("min_y_velocity_threshold", 100.0),
       rclcpp::Parameter("min_theta_velocity_threshold", 100.0),
       rclcpp::Parameter("failure_tolerance", 5.0)});
@@ -72,7 +71,6 @@ TEST(WPTest, test_dynamic_parameters)
     controller->get_node_base_interface(),
     results);
 
-  EXPECT_EQ(controller->get_parameter("controller_frequency").as_double(), 100.0);
   EXPECT_EQ(controller->get_parameter("min_x_velocity_threshold").as_double(), 100.0);
   EXPECT_EQ(controller->get_parameter("min_y_velocity_threshold").as_double(), 100.0);
   EXPECT_EQ(controller->get_parameter("min_theta_velocity_threshold").as_double(), 100.0);

nav2_docking/opennav_docking/src/docking_server.cpp

@@ -842,9 +842,7 @@ DockingServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> paramete
     }
 
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
-      if (param_name == "controller_frequency") {
-        controller_frequency_ = parameter.as_double();
-      } else if (param_name == "initial_perception_timeout") {
+      if (param_name == "initial_perception_timeout") {
         initial_perception_timeout_ = parameter.as_double();
       } else if (param_name == "wait_charge_timeout") {
         wait_charge_timeout_ = parameter.as_double();

nav2_docking/opennav_docking/test/test_docking_server_unit.cpp

@@ -240,8 +240,7 @@ TEST(DockingServerTests, testDynamicParams)
     node->get_node_services_interface());
 
   auto results = rec_param->set_parameters_atomically(
-    {rclcpp::Parameter("controller_frequency", 0.2),
-      rclcpp::Parameter("initial_perception_timeout", 1.0),
+    {rclcpp::Parameter("initial_perception_timeout", 1.0),
       rclcpp::Parameter("wait_charge_timeout", 1.2),
       rclcpp::Parameter("undock_linear_tolerance", 0.25),
       rclcpp::Parameter("undock_angular_tolerance", 0.125),
@@ -252,7 +251,6 @@ TEST(DockingServerTests, testDynamicParams)
 
   rclcpp::spin_until_future_complete(node->get_node_base_interface(), results);
 
-  EXPECT_EQ(node->get_parameter("controller_frequency").as_double(), 0.2);
   EXPECT_EQ(node->get_parameter("initial_perception_timeout").as_double(), 1.0);
   EXPECT_EQ(node->get_parameter("wait_charge_timeout").as_double(), 1.2);
   EXPECT_EQ(node->get_parameter("undock_linear_tolerance").as_double(), 0.25);