From 2dcb86e8f1007f0cf50c103945110d872b511014 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Tue, 17 Dec 2024 06:56:55 +0100
Subject: [PATCH] Make ur_controllers compileable on humble (#1207)

No += overload for Duration class on humble
---
 ur_controllers/src/passthrough_trajectory_controller.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/ur_controllers/src/passthrough_trajectory_controller.cpp b/ur_controllers/src/passthrough_trajectory_controller.cpp
index 0b09bb6fe..0ae84cffb 100644
--- a/ur_controllers/src/passthrough_trajectory_controller.cpp
+++ b/ur_controllers/src/passthrough_trajectory_controller.cpp
@@ -44,6 +44,7 @@
 
 #include <controller_interface/controller_interface.hpp>
 #include <rclcpp/logging.hpp>
+#include <rclcpp/version.h>
 #include <builtin_interfaces/msg/duration.hpp>
 #include <lifecycle_msgs/msg/state.hpp>
 
@@ -327,8 +328,12 @@ controller_interface::return_type PassthroughTrajectoryController::update(const
         scaling_factor_ = scaling_state_interface_->get().get_value();
       }
 
+#if RCLCPP_VERSION_MAJOR >= 17
       active_trajectory_elapsed_time_ += period * scaling_factor_;
-
+#else
+      // This is kept for Humble compatibility
+      active_trajectory_elapsed_time_ = active_trajectory_elapsed_time_ + period * scaling_factor_;
+#endif
       // RCLCPP_INFO(get_node()->get_logger(), "Elapsed trajectory time: %f. Scaling factor: %f, period: %f",
       // active_trajectory_elapsed_time_.seconds(), scaling_factor_, period.seconds());