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Lennart Nachtigallfmauch
Lennart Nachtigall
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joint_trajectory_controller/src/joint_trajectory_controller.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -236,7 +236,7 @@ controller_interface::return_type JointTrajectoryController::update(
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// time_difference is
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// - negative until first point is reached
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// - counting from zero to time_from_start of next point
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double time_difference = time.seconds() - segment_time_from_start.seconds();
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double time_difference = time_data.uptime.seconds() - segment_time_from_start.seconds();
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bool tolerance_violated_while_moving = false;
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bool outside_goal_tolerance = false;
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bool within_goal_time = true;

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