Address PR review comments

ros-controls · Oct 2, 2024 · 2a20f1d · 2a20f1d
1 parent 3c985db
commit 2a20f1d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -147,7 +147,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    * **The method called in the (real-time) control loop.**
    *
    * \param[in] time The time at the start of this control loop iteration
-   * \param[in] period The measured time taken by the last control loop iteration
+   * \param[in] period The measured time since the last control loop iteration
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
   CONTROLLER_INTERFACE_PUBLIC

diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
@@ -510,7 +510,7 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
     EXPECT_THAT(
       test_controller->update_period_.seconds(),
       testing::AllOf(
-        testing::Ge(0.99 * controller_period),
+        testing::Gt(0.99 * controller_period),
         testing::Lt((1.05 * controller_period) + PERIOD.seconds())))
       << "update_counter: " << update_counter << " desired controller period: " << controller_period
       << " actual controller period: " << test_controller->update_period_.seconds();