update write cycle statistics only if it is valid

ros-controls · Jan 16, 2025 · ba7275a · ba7275a
1 parent b74a55b
commit ba7275a
Showing 1 changed file with 8 additions and 3 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -3456,12 +3456,17 @@ void ControllerManager::hardware_components_diagnostic_callback(
         }
       };
 
+      // For components : {actuator, sensor and system}
       update_stats(
         component_name, component_info.read_statistics, read_cycle_suffix, level, component_info,
         params_);
-      update_stats(
-        component_name, component_info.write_statistics, write_cycle_suffix, level, component_info,
-        params_);
+      // For components : {actuator and system}
+      if (component_info.write_statistics)
+      {
+        update_stats(
+          component_name, component_info.write_statistics, write_cycle_suffix, level,
+          component_info, params_);
+      }
     }
   }