From f6b8f2e8537ec0d4a7a6ead0a17a756ba8058102 Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Sat, 18 Sep 2021 11:44:53 +0100
Subject: [PATCH 1/3] Pass time and period to update function

---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 376c64f4..53aaa4d9 100644
--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -369,9 +369,9 @@ void GazeboRosControlPrivate::Update()
   rclcpp::Duration sim_period = sim_time_ros - last_update_sim_time_ros_;
 
   if (sim_period >= control_period_) {
-    last_update_sim_time_ros_ = sim_time_ros;
     controller_manager_->read();
-    controller_manager_->update();
+    controller_manager_->update(sim_time_ros, sim_period);
+    last_update_sim_time_ros_ = sim_time_ros;
   }
 
   // Always set commands on joints, otherwise at low control frequencies the joints tremble

From 12c531c0c6b486de1d9ac71264ccf2ff36c1a82a Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Tue, 21 Sep 2021 10:11:41 +0100
Subject: [PATCH 2/3] Use Galactic in GH action

---
 .github/workflows/ci.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 0317fcab..0665a20b 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -9,7 +9,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container:
-      image: osrf/ros:foxy-desktop
+      image: osrf/ros:galactic-desktop
     steps:
     - uses: actions/checkout@v2
     - name: Setup colcon workspace
@@ -26,18 +26,18 @@ jobs:
           python3-colcon-ros
         cd /home/ros2_ws/src/
         rosdep update
-        rosdep install --from-paths ./ -i -y --rosdistro foxy \
+        rosdep install --from-paths ./ -i -y --rosdistro galactic \
           --ignore-src
     - name: Build project
       id: build
       run: |
         cd /home/ros2_ws/
-        . /opt/ros/foxy/local_setup.sh
+        . /opt/ros/galactic/local_setup.sh
         colcon build --packages-up-to gazebo_ros2_control_demos
     - name: Run tests
       id: test
       run: |
         cd /home/ros2_ws/
-        . /opt/ros/foxy/local_setup.sh
+        . /opt/ros/galactic/local_setup.sh
         colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
         colcon test-result

From 9b1000fbda26cd23a95f72cd5e3ec5dcc24c6bc8 Mon Sep 17 00:00:00 2001
From: Bence Magyar <bence.magyar.robotics@gmail.com>
Date: Fri, 15 Oct 2021 16:27:06 +0100
Subject: [PATCH 3/3] joint_state_broadcaster in town

---
 gazebo_ros2_control_demos/package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gazebo_ros2_control_demos/package.xml b/gazebo_ros2_control_demos/package.xml
index 365c86dd..715f4af3 100644
--- a/gazebo_ros2_control_demos/package.xml
+++ b/gazebo_ros2_control_demos/package.xml
@@ -28,7 +28,7 @@
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>hardware_interface</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>