Update to new signature of update_reference_from_subscribers

Author: bmagyar

steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp

@@ -76,7 +76,8 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
     const rclcpp_lifecycle::State & previous_state) override;
 
   STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type
-  update_reference_from_subscribers() override;
+  update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::return_type
   update_and_write_commands(const rclcpp::Time & time, const rclcpp::Duration & period) override;

steering_controllers_library/src/steering_controllers_library.cpp

@@ -411,10 +411,11 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_deactivate(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type SteeringControllersLibrary::update_reference_from_subscribers()
+controller_interface::return_type SteeringControllersLibrary::update_reference_from_subscribers(
+  const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   auto current_ref = *(input_ref_.readFromRT());
-  const auto age_of_last_command = get_node()->now() - (current_ref)->header.stamp;
+  const auto age_of_last_command = time - (current_ref)->header.stamp;
 
   // send message only if there is no timeout
   if (age_of_last_command <= ref_timeout_ || ref_timeout_ == rclcpp::Duration::from_seconds(0))