diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index c43f75e9c0..3a68a9bd9c 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -424,6 +424,7 @@ void ControllerServer::computeControl()
 {
   std::lock_guard<std::mutex> lock(dynamic_params_lock_);
 
+  auto start_time = this->now();
   RCLCPP_INFO(get_logger(), "Received a goal, begin computing control effort.");
 
   try {