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use reset+initRT due to missing writeFromRT
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Co-authored-by: Christoph Fröhlich <[email protected]>
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2 people authored and mamueluth committed Mar 13, 2024
1 parent 1b0ce61 commit 0b68234
Showing 1 changed file with 2 additions and 1 deletion.
Original file line number Diff line number Diff line change
Expand Up @@ -186,7 +186,8 @@ controller_interface::return_type JointTrajectoryController::update(
time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
rclcpp::Time traj_time =
time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
time_data_.writeFromNonRT(time_data);
time_data_.reset();
time_data_.initRT(time_data);

bool first_sample = false;
// if sampling the first time, set the point before you sample
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