don't write in the first tick

ros-controls · Apr 4, 2024 · 67da21c · 67da21c
1 parent 5110243
commit 67da21c
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/hardware_interface/include/hardware_interface/async_components.hpp b/hardware_interface/include/hardware_interface/async_components.hpp
@@ -93,8 +93,12 @@ class AsyncComponentThread
             auto measured_period = current_time - previous_time;
             previous_time = current_time;
 
-            component->write(clock_interface_->get_clock()->now(), measured_period);
+            if (!first_iteration)
+            {
+              component->write(clock_interface_->get_clock()->now(), measured_period);
+            }
             component->read(clock_interface_->get_clock()->now(), measured_period);
+            first_iteration = false;
           }
           next_iteration_time += period;
           std::this_thread::sleep_until(next_iteration_time);
@@ -109,6 +113,7 @@ class AsyncComponentThread
   std::thread write_and_read_{};
 
   unsigned int cm_update_rate_;
+  bool first_iteration = true;
   rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
 };