Set time of success position

ros-controls · Nov 28, 2023 · 77cff4e · 77cff4e
1 parent 012bca4
commit 77cff4e
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1475,6 +1475,7 @@ JointTrajectoryController::set_success_trajectory_point()
   // set last command to be repeated at success, no matter if it has nonzero velocity or
   // acceleration
   hold_position_msg_ptr_->points[0] = traj_external_point_ptr_->get_trajectory_msg()->points.back();
+  hold_position_msg_ptr_->points[0].time_from_start = rclcpp::Duration(0, 0);
 
   // set flag, otherwise tolerances will be checked with success_trajectory_point too
   rt_is_holding_.writeFromNonRT(true);