Apply denis suggestions from code review

Co-authored-by: Dr. Denis <[email protected]>
ros-controls · Oct 1, 2023 · 8cc0d71 · 8cc0d71
1 parent af1c9a6
commit 8cc0d71
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2054,10 +2054,12 @@ controller_interface::return_type ControllerManager::update(
       if (controller_go)
       {
         auto controller_ret =
-          loaded_controller.c->update(time, run_controller_at_cm_rate ? period : controller_period);
+          loaded_controller.c->update(time, controller_period);
 
         if (*loaded_controller.next_update_cycle_time == rclcpp::Time(0))
+        {
           *loaded_controller.next_update_cycle_time = time;
+        }
         *loaded_controller.next_update_cycle_time += controller_period;
 
         if (controller_ret != controller_interface::return_type::OK)