From f772ffb3fb8aa489db798d6f36986dbdec84281d Mon Sep 17 00:00:00 2001
From: Nikola Banovic <nikola.banovic@b-robotized.com>
Date: Fri, 2 Oct 2026 12:27:49 +0000
Subject: [PATCH] TRY updating params instead of waiting on mutex

---
 src/cartesian_controller.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/cartesian_controller.cpp b/src/cartesian_controller.cpp
index f1d8bd8..98c4190 100644
--- a/src/cartesian_controller.cpp
+++ b/src/cartesian_controller.cpp
@@ -228,9 +228,7 @@ CartesianController::update(const rclcpp::Time & time, const rclcpp::Duration &
 
   tau_previous = tau_d;
 
-  params_listener_->refresh_dynamic_parameters();
-  if (params_listener_->is_old(params_)) {
-    params_ = params_listener_->get_params();
+  if (params_listener_->try_update_params(params_)) {
     setStiffnessAndDamping();
   }