Fix dt

ros-controls · Dec 5, 2024 · 915c861 · 915c861
1 parent 439c27a
commit 915c861
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
@@ -221,15 +221,15 @@ std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::getPidSt
 
 double PidROS::computeCommand(double error, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, static_cast<int>(dt.nanoseconds()));
+  double cmd_ = pid_.computeCommand(error, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;
 }
 
 double PidROS::computeCommand(double error, double error_dot, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, error_dot, static_cast<int>(dt.nanoseconds()));
+  double cmd_ = pid_.computeCommand(error, error_dot, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;