From 15359e0c2af2593272d921450c309c5e4b1c9d6e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sun, 1 Dec 2024 23:02:56 +0100
Subject: [PATCH] Add explicit cast to period.count() (#1404)

(cherry picked from commit 36068e180aa510ab79a9c19a91f9de8ad5e74f06)
---
 .../include/gripper_controllers/hardware_interface_adapter.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp
index b125ab12d0..a4b82bd25f 100644
--- a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp
+++ b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp
@@ -166,7 +166,8 @@ class HardwareInterfaceAdapter<hardware_interface::HW_IF_EFFORT>
     // Time since the last call to update
     const auto period = std::chrono::steady_clock::now() - last_update_time_;
     // Update PIDs
-    double command = pid_->computeCommand(error_position, error_velocity, period.count());
+    double command =
+      pid_->computeCommand(error_position, error_velocity, static_cast<uint64_t>(period.count()));
     command = std::min<double>(
       fabs(max_allowed_effort), std::max<double>(-fabs(max_allowed_effort), command));
     joint_handle_->get().set_value(command);