Remove duplicate reading period from parameter

ros-controls · Dec 4, 2024 · 5d2b852 · 5d2b852
1 parent a2d319b
commit 5d2b852
Showing 1 changed file with 0 additions and 9 deletions.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1074,15 +1074,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
     cmd_timeout_ = 0.0;
   }
 
-  {
-    if (get_update_rate() == 0)
-    {
-      throw std::runtime_error("Controller's update rate is set to 0. This should not happen!");
-    }
-    update_period_ =
-      rclcpp::Duration(0.0, static_cast<uint32_t>(1.0e9 / static_cast<double>(get_update_rate())));
-  }
-
   return CallbackReturn::SUCCESS;
 }