fix adm rule clock usage

ICube-Robotics · Aug 28, 2024 · 7e37f4e · 7e37f4e
1 parent 4398326
commit 7e37f4e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/cartesian_vic_controller/src/rules/vanilla_cartesian_admittance_rule.cpp b/cartesian_vic_controller/src/rules/vanilla_cartesian_admittance_rule.cpp
@@ -187,7 +187,8 @@ bool VanillaCartesianAdmittanceRule::compute_controls(
   double conditioning_J = 1000.0;
   if (J_.cols() < 6) {
     RCLCPP_WARN_THROTTLE(
-      logger_, clock_, 5000, "Jacobian has only %u columns, expecting at least 6!!!", J_.cols());
+      logger_, internal_clock_, 5000, "Jacobian has only %u columns, expecting at least 6!!!",
+        J_.cols());
     conditioning_J = J_svd.singularValues()(0) / J_svd.singularValues()(J_.cols() - 1);
   } else {
     conditioning_J = J_svd.singularValues()(0) / J_svd.singularValues()(dims - 1);