Updated to ros2_controllers JTC API

UniversalRobots · Sep 18, 2023 · ce2369b · ce2369b
1 parent 11f2d51
commit ce2369b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -249,7 +249,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
             RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");
           } else if (default_tolerances_.goal_time_tolerance != 0.0) {
             // if we exceed goal_time_toleralance set it to aborted
-            const rclcpp::Time traj_start = traj_external_point_ptr_->get_trajectory_start_time();
+            const rclcpp::Time traj_start = traj_external_point_ptr_->time_from_start();
             const rclcpp::Time traj_end = traj_start + start_segment_itr->time_from_start;
 
             // TODO(anyone): This will break in speed scaling we have to discuss how to handle the goal