From 1aeba6e9d35559409267e483e7c6229944add8c4 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 17 Dec 2024 06:24:02 +0100 Subject: [PATCH] Added comment --- ur_controllers/src/passthrough_trajectory_controller.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ur_controllers/src/passthrough_trajectory_controller.cpp b/ur_controllers/src/passthrough_trajectory_controller.cpp index 421add74..0ae84cff 100644 --- a/ur_controllers/src/passthrough_trajectory_controller.cpp +++ b/ur_controllers/src/passthrough_trajectory_controller.cpp @@ -331,6 +331,7 @@ controller_interface::return_type PassthroughTrajectoryController::update(const #if RCLCPP_VERSION_MAJOR >= 17 active_trajectory_elapsed_time_ += period * scaling_factor_; #else + // This is kept for Humble compatibility active_trajectory_elapsed_time_ = active_trajectory_elapsed_time_ + period * scaling_factor_; #endif // RCLCPP_INFO(get_node()->get_logger(), "Elapsed trajectory time: %f. Scaling factor: %f, period: %f",