From 76c2d02d74295510a2aaf3e183cdff5ca79410f8 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Tue, 4 Feb 2025 08:53:20 +0100
Subject: [PATCH] Update computeCommand to compute_command

The former has been marked deprecated in control_toolbox.
---
 ur_controllers/src/scaled_joint_trajectory_controller.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
index 4b99cee75..68d224738 100644
--- a/ur_controllers/src/scaled_joint_trajectory_controller.cpp
+++ b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -237,8 +237,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
           // Update PIDs
           for (auto i = 0ul; i < dof_; ++i) {
             tmp_command_[i] = (state_desired_.velocities[i] * ff_velocity_scale_[i]) +
-                              pids_[i]->computeCommand(state_error_.positions[i], state_error_.velocities[i],
-                                                       (uint64_t)period.nanoseconds());
+                              pids_[i]->compute_command(state_error_.positions[i], state_error_.velocities[i], period);
           }
         }