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Backport #848 to humble #865

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Backport #848 to humble #865

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5 changes: 3 additions & 2 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,9 @@ int main(int argc, char ** argv)

// for calculating sleep time
auto const period = std::chrono::nanoseconds(1'000'000'000 / cm->get_update_rate());
std::chrono::system_clock::time_point next_iteration_time =
std::chrono::system_clock::time_point(std::chrono::nanoseconds(cm->now().nanoseconds()));
auto const cm_now = std::chrono::nanoseconds(cm->now().nanoseconds());
std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds>
next_iteration_time{cm_now};

// for calculating the measured period of the loop
rclcpp::Time previous_time = cm->now();
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