From ecf095533456fd02ff7fd451c8517a3224c17fc9 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 10 Feb 2025 22:14:52 +0100
Subject: [PATCH] Use monotonic clock on realtime kernels

---
 controller_manager/src/controller_manager.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 99ab12bb47..8f01c2c0b2 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -402,9 +402,9 @@ void ControllerManager::initialize_parameters()
       this->get_node_parameters_interface(), this->get_logger());
     params_ = std::make_shared<controller_manager::Params>(cm_param_listener_->get_params());
     update_rate_ = static_cast<unsigned int>(params_->update_rate);
-    const rclcpp::Parameter use_sim_time = this->get_parameter("use_sim_time");
-    trigger_clock_ =
-      use_sim_time.as_bool() ? this->get_clock() : std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME);
+    trigger_clock_ = realtime_tools::has_realtime_kernel()
+                       ? this->get_clock()
+                       : std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME);
     RCLCPP_INFO(
       get_logger(), "Using %s clock for triggering controller manager cycles.",
       trigger_clock_->get_clock_type() == RCL_STEADY_TIME ? "Steady (Monotonic)" : "ROS");