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Updated to ros2_controllers JTC API #804

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Updated to ros2_controllers JTC API #804

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2 changes: 1 addition & 1 deletion ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Expand Up @@ -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
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