From 8677178f32a9ce7d7ec04e85386938e5930d42f3 Mon Sep 17 00:00:00 2001 From: ipa-vsp Date: Sat, 4 May 2024 13:55:27 +0200 Subject: [PATCH] fix loop timer for run_velocity_mode --- .../include/canopen_fake_slaves/cia402_slave.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp b/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp index 8c7f13c3..e0410ef9 100644 --- a/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp +++ b/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp @@ -360,7 +360,7 @@ class CIA402MockSlave : public canopen::BasicSlave (*this)[0x6064][0] = (int32_t)((actual_position + target_velocity * control_cycle_period_d) * 1000.0); std::this_thread::sleep_for( - std::chrono::milliseconds(((int32_t)control_cycle_period_d * 1000))); + std::chrono::milliseconds(((int32_t)(control_cycle_period_d * 1000.0)))); } RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "Leaving run_profile_velocity_mode"); }