added the actual controller update period computation

ros-controls · Oct 22, 2023 · 95fc622 · 95fc622
1 parent bc6c158
commit 95fc622
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2057,7 +2057,9 @@ controller_interface::return_type ControllerManager::update(
 
       if (controller_go)
       {
-        auto controller_ret = loaded_controller.c->update(time, controller_period);
+        const auto controller_actual_period =
+          (time - *loaded_controller.next_update_cycle_time) + controller_period;
+        auto controller_ret = loaded_controller.c->update(time, controller_actual_period);
 
         if (
           *loaded_controller.next_update_cycle_time ==