From 17adfc369961a116cfb83fcbaaad7468e469201e Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Sun, 13 Oct 2024 22:25:30 +0200
Subject: [PATCH] Fix period calculation in trajectory_actions test

The generated period was more of an uptime
---
 .../test/test_trajectory_actions.cpp                      | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
index 164f7d0e11..8f45fb66af 100644
--- a/joint_trajectory_controller/test/test_trajectory_actions.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -83,12 +83,16 @@ class TestTrajectoryActions : public TrajectoryControllerTest
       {
         // controller hardware cycle update loop
         auto clock = rclcpp::Clock(RCL_STEADY_TIME);
-        auto start_time = clock.now();
+        auto now_time = clock.now();
+        auto start_time = now_time;
+        auto last_time = start_time;
         rclcpp::Duration wait = rclcpp::Duration::from_seconds(2.0);
         auto end_time = start_time + wait;
         while (clock.now() < end_time)
         {
-          traj_controller_->update(clock.now(), clock.now() - start_time);
+          now_time = clock.now();
+          traj_controller_->update(now_time, now_time - last_time);
+          last_time = now_time;
         }
       });