Throttle the overrun log

Author: saikishor

controller_manager/src/controller_manager.cpp

@@ -3159,17 +3159,20 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
   execution_time_.total_time =
     execution_time_.write_time + execution_time_.update_time + execution_time_.read_time;
   const double expected_cycle_time = 1.e6 / static_cast<double>(get_update_rate());
-  const bool print_log = execution_time_.total_time > expected_cycle_time;
-  RCLCPP_WARN_EXPRESSION(
-    get_logger(), print_log,
-    "Overrun might occur, Total time : %.3f us (Expected < %.3f us) --> Read time : %.3f us, "
-    "Update time : %.3f us (Switch time : %.3f us (Switch chained mode time : %.3f us, perform "
-    "mode change time : %.3f us, Activation time : %.3f us, Deactivation time : %.3f us)), Write "
-    "time : %.3f us",
-    execution_time_.total_time, expected_cycle_time, execution_time_.read_time,
-    execution_time_.update_time, execution_time_.switch_time,
-    execution_time_.switch_chained_mode_time, execution_time_.switch_perform_mode_time,
-    execution_time_.activation_time, execution_time_.deactivation_time, execution_time_.write_time);
+  if (execution_time_.total_time > expected_cycle_time)
+  {
+    RCLCPP_WARN_THROTTLE(
+      get_logger(), *get_clock(), 1000,
+      "Overrun might occur, Total time : %.3f us (Expected < %.3f us) --> Read time : %.3f us, "
+      "Update time : %.3f us (Switch time : %.3f us (Switch chained mode time : %.3f us, perform "
+      "mode change time : %.3f us, Activation time : %.3f us, Deactivation time : %.3f us)), Write "
+      "time : %.3f us",
+      execution_time_.total_time, expected_cycle_time, execution_time_.read_time,
+      execution_time_.update_time, execution_time_.switch_time,
+      execution_time_.switch_chained_mode_time, execution_time_.switch_perform_mode_time,
+      execution_time_.activation_time, execution_time_.deactivation_time,
+      execution_time_.write_time);
+  }
 }
 
 std::vector<ControllerSpec> &