Merge pull request #286 from ros-industrial/285-error-in-canopen_fake…

…_slavesincludecanopen_fake_slaves-cia402_slavehpp-inside-function-run_profile_velocity_mode Fix loop timer for run_profile_velocity_mode in fake slave
ros-industrial · May 4, 2024 · e6db3cf · e6db3cf
2 parents cd3837f + 8677178
commit e6db3cf
Showing 1 changed file with 1 addition and 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
@@ -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");
   }