From fca74cca671262d02a09641bc859018e770c0d27 Mon Sep 17 00:00:00 2001
From: Timon Engelke <timon.engelke@dlr.de>
Date: Wed, 19 Jun 2024 09:15:33 +0200
Subject: [PATCH] Fix ik_cppoptlib

---
 src/ik_cppoptlib.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ik_cppoptlib.cpp b/src/ik_cppoptlib.cpp
index b0ffd6c0..526ca999 100644
--- a/src/ik_cppoptlib.cpp
+++ b/src/ik_cppoptlib.cpp
@@ -104,7 +104,7 @@ struct IKOptLibProblem : cppoptlib::BoundedProblem<double>
     bool callback(const cppoptlib::Criteria<double>& state, const TVector& x)
     {
         // check ik timeout
-        return ros::WallTime::now().toSec() < ik->problem.timeout;
+        return std::chrono::system_clock::now() < ik->problem.timeout;
     }
 };