Throttle error message on inconsistent encoder timestamps

robotology · Jan 31, 2023 · f014caf · f014caf
1 parent 4178507
commit f014caf
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diff --git a/doc/release/yarp_3_7/throttle_consistency_checker.md b/doc/release/yarp_3_7/throttle_consistency_checker.md
@@ -0,0 +1,8 @@
+throttle_consistency_checker {#yarp_3_7}
+-----------
+
+### Devices
+
+#### `controlBoard_nws_yarp`
+
+* The error message upon inconsistent encoder timestamps has been throttled.
diff --git a/src/devices/ControlBoardWrapper/ControlBoard_nws_yarp.cpp b/src/devices/ControlBoardWrapper/ControlBoard_nws_yarp.cpp
@@ -513,8 +513,7 @@ void ControlBoard_nws_yarp::run()
     {
         if (std::abs(times[0] - tt) > 1.0)
         {
-            yCError(CONTROLBOARD, "Encoder Timestamps are not consistent! Data will not be published.");
-            yarp::sig::Vector _data(subdevice_joints);
+            yCErrorThrottle(CONTROLBOARD, 1.0, "Encoder timestamps are not consistent! Data will not be published.");
             return;
         }
     }