Obtain time from node. (#3032)

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
moveit · Oct 16, 2024 · 7db58f8 · 7db58f8
1 parent 56d1ab1
commit 7db58f8
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
@@ -648,8 +648,8 @@ KinematicState Servo::getCurrentRobotState(bool block_for_current_state) const
     bool have_current_state = false;
     while (rclcpp::ok() && !have_current_state)
     {
-      have_current_state = planning_scene_monitor_->getStateMonitor()->waitForCurrentState(
-          rclcpp::Clock(RCL_ROS_TIME).now(), ROBOT_STATE_WAIT_TIME /* s */);
+      have_current_state =
+          planning_scene_monitor_->getStateMonitor()->waitForCurrentState(node_->now(), ROBOT_STATE_WAIT_TIME /* s */);
       if (!have_current_state)
       {
         RCLCPP_WARN(logger_, "Waiting for the current state");