From 48e842656b59bab3173f132120e8c1851ce8b2b3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Wed, 16 Sep 2026 14:11:37 +1000 Subject: [PATCH] fix: report mismatched FRI periods --- src/iiwa_controller/src/FRIClient.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/iiwa_controller/src/FRIClient.cpp b/src/iiwa_controller/src/FRIClient.cpp index d62748b..e31d7c7 100644 --- a/src/iiwa_controller/src/FRIClient.cpp +++ b/src/iiwa_controller/src/FRIClient.cpp @@ -56,7 +56,10 @@ void FRIClient::captureData(bool commanding) if (expected_sample_time_ > 0.0 && std::abs(current_.sample_time - expected_sample_time_) > 1e-9) { - throw std::runtime_error("Sunrise FRI period differs from robot.fri_cycle_ms"); + throw std::runtime_error( + "Sunrise FRI period is " + std::to_string(current_.sample_time * 1000.0) + + " ms, but robot.fri_cycle_ms is " + + std::to_string(expected_sample_time_ * 1000.0) + " ms"); } if (current_.valid && current_.session == COMMANDING_ACTIVE) { const double elapsed = static_cast(sec - current_.time_stamp_sec) +