From 043963f78b2054387c9d0e85f395b373bf234d9d Mon Sep 17 00:00:00 2001 From: Lennart Nachtigall Date: Wed, 22 May 2024 15:31:28 +0200 Subject: [PATCH] this simple fix should fix the goal time violated issue (#882) Co-authored-by: Lennart Nachtigall (cherry picked from commit 3f423ed18e6a6adc139b3395d23867b26a3f5632) --- ur_controllers/src/scaled_joint_trajectory_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp index 8c8b63f71..4ccd1ec12 100644 --- a/ur_controllers/src/scaled_joint_trajectory_controller.cpp +++ b/ur_controllers/src/scaled_joint_trajectory_controller.cpp @@ -173,7 +173,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const // time_difference is // - negative until first point is reached // - counting from zero to time_from_start of next point - double time_difference = time.seconds() - segment_time_from_start.seconds(); + const double time_difference = time_data.uptime.seconds() - segment_time_from_start.seconds(); bool tolerance_violated_while_moving = false; bool outside_goal_tolerance = false; bool within_goal_time = true;