Wrap around time problem with diff_driver_controller.

[olivier-stasse]

Analysis:

Working on ros2_controller_demo I happened to have systematically the following exception: [ros2_control_node-1] ros2_control_node: /opt/ros/foxy/include/rcppmath/clamp.hpp:41: constexpr const T& rcppmath::clamp(const T&, const T&, const T&) [with T = double]: Assertion !(hi < lo)' failed. see related issue here The clamp is triggered from here: https://github.com/ros-controls/ros2_controllers/blob/3586acec2d541545b1575c80eb46a91b7232a28d/diff_drive_controller/src/diff_drive_controller.cpp#L244 I checked the speed_limiter and it does not come from here. It is due to negative duration. This is quite surprising.

The test is run in a docker.

I was wondering if somebody else happen to have the problem or if this is a setup problem ?

Quick way around:

In order to avoid the problem, I just tested if update_dt is negative and returns if this is the case.

Any feedback appreciated.