use reset+initRT due to missing writeFromRT

Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · Oct 10, 2023 · 7b15431 · 7b15431
1 parent 3044026
commit 7b15431
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -210,7 +210,8 @@ controller_interface::return_type JointTrajectoryController::update(
     time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
     rclcpp::Time traj_time =
       time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
-    time_data_.writeFromNonRT(time_data);
+    time_data_.reset();
+    time_data_.initRT(time_data);
 
     bool first_sample = false;
     // if sampling the first time, set the point before you sample