Use std::chrono overload

ros-controls · Jan 1, 2025 · a885f0c · a885f0c
1 parent eaa4284
commit a885f0c
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp
@@ -165,8 +165,7 @@ class HardwareInterfaceAdapter<hardware_interface::HW_IF_EFFORT>
     // Time since the last call to update
     const auto period = std::chrono::steady_clock::now() - last_update_time_;
     // Update PIDs
-    double command =
-      pid_->compute_command(error_position, error_velocity, static_cast<uint64_t>(period.count()));
+    double command = pid_->compute_command(error_position, error_velocity, period);
     command = std::min<double>(
       fabs(max_allowed_effort), std::max<double>(-fabs(max_allowed_effort), command));
     joint_handle_->get().set_value(command);