diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index b3e2f55742..66031db27f 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -142,6 +142,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   Params params_;
 
   trajectory_msgs::msg::JointTrajectoryPoint last_commanded_state_;
+  rclcpp::Time last_commanded_time_;
   /// Specify interpolation method. Default to splines.
   interpolation_methods::InterpolationMethod interpolation_method_{
     interpolation_methods::DEFAULT_INTERPOLATION};
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 7c494a63ab..cdf915619b 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -318,6 +318,7 @@ controller_interface::return_type JointTrajectoryController::update(
 
         // store the previous command. Used in open-loop control mode
         last_commanded_state_ = state_desired_;
+        last_commanded_time_ = time;
       }
 
       if (active_goal)