Reset both sec and nanosec in time_from_start (#1709)

arnavk23 · web-flow · commit 483d6ac8fb36 · 2025-05-27T09:54:37.000+02:00
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -167,7 +167,8 @@ controller_interface::return_type JointTrajectoryController::update(
   }
 
   // current state update
-  state_current_.time_from_start.set__sec(0);
+  state_current_.time_from_start.sec = 0;
+  state_current_.time_from_start.nanosec = 0;
   read_state_from_state_interfaces(state_current_);
 
   // currently carrying out a trajectory

Original file line number	Diff line number	Diff line change
`@@ -167,7 +167,8 @@ controller_interface::return_type JointTrajectoryController::update(`
`167`	`167`	`}`
`168`	`168`
`169`	`169`	`// current state update`
`170`		`- state_current_.time_from_start.set__sec(0);`
	`170`	`+ state_current_.time_from_start.sec = 0;`
	`171`	`+ state_current_.time_from_start.nanosec = 0;`
`171`	`172`	`read_state_from_state_interfaces(state_current_);`
`172`	`173`
`173`	`174`	`// currently carrying out a trajectory`