From 44282949f481bb088d0a094be620eeeb6c49b38c Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 29 May 2025 18:57:45 -0400
Subject: [PATCH] 200ms

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

diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index 57a7c43..5016312 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -131,7 +131,7 @@ namespace Modelec
 
     void NavigationHelper::Update()
     {
-        if ((node_->now() - last_odo_get_pos_time_).seconds() > 1)
+        if ((node_->now() - last_odo_get_pos_time_).nanoseconds() > static_cast<int64_t>(1e8 * 2)) // 200ms
         {
             last_odo_get_pos_time_ = node_->now();
             RCLCPP_INFO(node_->get_logger(), "Requesting current position from odometry");