diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index f4e8e15e81..303cd8ccce 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -2401,7 +2401,7 @@ controller_interface::return_type ControllerManager::update(
         try
         {
           const auto trigger_result =
-            loaded_controller.c->trigger_update(time, controller_actual_period);
+            loaded_controller.c->trigger_update(current_time, controller_actual_period);
           trigger_status = trigger_result.ok;
           controller_ret = trigger_result.result;
           if (trigger_status && trigger_result.execution_time.has_value())