diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 2f34fdf33d..76e6387817 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -225,8 +225,7 @@ controller_interface::return_type JointTrajectoryController::update(
         if (
           (before_last_point || first_sample) && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, active_tol->state_tolerance[index], true /* show_errors */) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, active_tol->state_tolerance[index], true /* show_errors */))
         {
           tolerance_violated_while_moving = true;
         }
@@ -234,9 +233,7 @@ controller_interface::return_type JointTrajectoryController::update(
         if (
           !before_last_point && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, active_tol->goal_state_tolerance[index],
-            false /* show_errors */) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, active_tol->goal_state_tolerance[index], false /* show_errors */))
         {
           outside_goal_tolerance = true;