From 13fe06ac9e6f7229615221951adbd10521d986ea Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 26 Nov 2024 19:18:00 +0000
Subject: [PATCH] Fix dt

---
 src/pid_ros.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pid_ros.cpp b/src/pid_ros.cpp
index 0cdef37d..36e18d28 100644
--- a/src/pid_ros.cpp
+++ b/src/pid_ros.cpp
@@ -221,7 +221,7 @@ std::shared_ptr<rclcpp::Publisher<control_msgs::msg::PidState>> PidROS::getPidSt
 
 double PidROS::computeCommand(double error, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, static_cast<int>(dt.nanoseconds()));
+  double cmd_ = pid_.computeCommand(error, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;
@@ -229,7 +229,7 @@ double PidROS::computeCommand(double error, rclcpp::Duration dt)
 
 double PidROS::computeCommand(double error, double error_dot, rclcpp::Duration dt)
 {
-  double cmd_ = pid_.computeCommand(error, error_dot, static_cast<int>(dt.nanoseconds()));
+  double cmd_ = pid_.computeCommand(error, error_dot, static_cast<uint64_t>(dt.nanoseconds()));
   publishPIDState(cmd_, error, dt);
 
   return cmd_;