diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
index 4b398c9c86..38f767dd3b 100644
--- a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
+++ b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -61,7 +61,8 @@ class DiffDriveController : public controller_interface::ControllerInterface
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   DIFF_DRIVE_CONTROLLER_PUBLIC
   CallbackReturn on_init() override;
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 40d0421856..e816b26f11 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -132,7 +132,8 @@ InterfaceConfiguration DiffDriveController::state_interface_configuration() cons
   return {interface_configuration_type::INDIVIDUAL, conf_names};
 }
 
-controller_interface::return_type DiffDriveController::update()
+controller_interface::return_type DiffDriveController::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   auto logger = node_->get_logger();
   if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
@@ -145,29 +146,29 @@ controller_interface::return_type DiffDriveController::update()
     return controller_interface::return_type::OK;
   }
 
-  const auto current_time = node_->get_clock()->now();
+  const auto current_time = time;
 
-  std::shared_ptr<Twist> last_msg;
-  received_velocity_msg_ptr_.get(last_msg);
+  std::shared_ptr<Twist> last_command_msg;
+  received_velocity_msg_ptr_.get(last_command_msg);
 
-  if (last_msg == nullptr)
+  if (last_command_msg == nullptr)
   {
     RCLCPP_WARN(logger, "Velocity message received was a nullptr.");
     return controller_interface::return_type::ERROR;
   }
 
-  const auto dt = current_time - last_msg->header.stamp;
+  const auto age_of_last_command = current_time - last_command_msg->header.stamp;
   // Brake if cmd_vel has timeout, override the stored command
-  if (dt > cmd_vel_timeout_)
+  if (age_of_last_command > cmd_vel_timeout_)
   {
-    last_msg->twist.linear.x = 0.0;
-    last_msg->twist.angular.z = 0.0;
+    last_command_msg->twist.linear.x = 0.0;
+    last_command_msg->twist.angular.z = 0.0;
   }
 
   // linear_command and angular_command may be limited further by SpeedLimit,
   // without affecting the stored twist command
-  double linear_command = last_msg->twist.linear.x;
-  double angular_command = last_msg->twist.angular.z;
+  double linear_command = last_command_msg->twist.linear.x;
+  double angular_command = last_command_msg->twist.angular.z;
 
   // Apply (possibly new) multipliers:
   const auto wheels = wheel_params_;
@@ -247,7 +248,7 @@ controller_interface::return_type DiffDriveController::update()
     angular_command, last_command.angular.z, second_to_last_command.angular.z, update_dt.seconds());
 
   previous_commands_.pop();
-  previous_commands_.emplace(*last_msg);
+  previous_commands_.emplace(*last_command_msg);
 
   //    Publish limited velocity
   if (publish_limited_velocity_ && realtime_limited_velocity_publisher_->trylock())
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 40320248d4..ca3da08803 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -285,11 +285,15 @@ TEST_F(TestDiffDriveController, cleanup)
   publish(linear, angular);
   controller_->wait_for_twist(executor);
 
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   state = controller_->deactivate();
   ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   state = controller_->cleanup();
   ASSERT_EQ(State::PRIMARY_STATE_UNCONFIGURED, state.id());
@@ -333,7 +337,9 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
   // wait for msg is be published to the system
   ASSERT_TRUE(controller_->wait_for_twist(executor));
 
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
   EXPECT_EQ(1.0, left_wheel_vel_cmd_.get_value());
   EXPECT_EQ(1.0, right_wheel_vel_cmd_.get_value());
 
@@ -342,7 +348,9 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
   std::this_thread::sleep_for(std::chrono::milliseconds(500));
   state = controller_->deactivate();
   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   EXPECT_EQ(0.0, left_wheel_vel_cmd_.get_value()) << "Wheels are halted on deactivate()";
   EXPECT_EQ(0.0, right_wheel_vel_cmd_.get_value()) << "Wheels are halted on deactivate()";
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index 3864aef639..157384423a 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -114,7 +114,9 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful though no command has been send yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -127,7 +129,9 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update successful, command received
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands have been modified
   ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
@@ -147,7 +151,9 @@ TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update failed, command size does not match number of joints
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::ERROR);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -162,7 +168,9 @@ TEST_F(JointGroupEffortControllerTest, NoCommandCheckTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful, no command received yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -201,7 +209,9 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
   rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
 
   // update successful
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check command in handle was set
   ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
diff --git a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
index f1f4d1e8bf..a1c0be6335 100644
--- a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
+++ b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
@@ -59,7 +59,8 @@ class ForceTorqueSensorBroadcaster : public controller_interface::ControllerInte
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   FORCE_TORQUE_SENSOR_BROADCASTER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 protected:
   std::string sensor_name_;
diff --git a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
index 5f6fc7ec0b..5f5c880c39 100644
--- a/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
+++ b/force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
@@ -156,11 +156,12 @@ CallbackReturn ForceTorqueSensorBroadcaster::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type ForceTorqueSensorBroadcaster::update()
+controller_interface::return_type ForceTorqueSensorBroadcaster::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   if (realtime_publisher_ && realtime_publisher_->trylock())
   {
-    realtime_publisher_->msg_.header.stamp = node_->now();
+    realtime_publisher_->msg_.header.stamp = time;
     force_torque_sensor_->get_values_as_message(realtime_publisher_->msg_.wrench);
     realtime_publisher_->unlockAndPublish();
   }
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
index 3d61eb5490..db8f6e7022 100644
--- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
+++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -88,7 +88,9 @@ void ForceTorqueSensorBroadcasterTest::subscribe_and_get_message(
     "/test_force_torque_sensor_broadcaster/wrench", 10, subs_callback);
 
   // call update to publish the test value
-  ASSERT_EQ(fts_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    fts_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // wait for message to be passed
   ASSERT_EQ(wait_for(subscription), rclcpp::WaitResultKind::Ready);
@@ -220,7 +222,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Update_Success)
   ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
   ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  ASSERT_EQ(fts_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    fts_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 }
 
 TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Success)
@@ -234,7 +238,9 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Success)
 
   ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
   ASSERT_EQ(fts_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
-  ASSERT_EQ(fts_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    fts_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 }
 
 TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_Publish_Success)
diff --git a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
index bbbee94740..9926a7e9b7 100644
--- a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
+++ b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
@@ -69,7 +69,8 @@ class ForwardCommandController : public controller_interface::ControllerInterfac
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   FORWARD_COMMAND_CONTROLLER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 protected:
   std::vector<std::string> joint_names_;
diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp
index 7107cd03ce..49284ae5cb 100644
--- a/forward_command_controller/src/forward_command_controller.cpp
+++ b/forward_command_controller/src/forward_command_controller.cpp
@@ -153,7 +153,8 @@ CallbackReturn ForwardCommandController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type ForwardCommandController::update()
+controller_interface::return_type ForwardCommandController::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   auto joint_commands = rt_command_ptr_.readFromRT();
 
diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
index e42fe6e61a..425c08c7af 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -178,7 +178,9 @@ TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful though no command has been send yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -191,7 +193,9 @@ TEST_F(ForwardCommandControllerTest, CommandSuccessTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update successful, command received
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0.1), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands have been modified
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 10.0);
@@ -215,7 +219,9 @@ TEST_F(ForwardCommandControllerTest, WrongCommandCheckTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update failed, command size does not match number of joints
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::ERROR);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -233,7 +239,9 @@ TEST_F(ForwardCommandControllerTest, NoCommandCheckTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful, no command received yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -274,7 +282,9 @@ TEST_F(ForwardCommandControllerTest, CommandCallbackTest)
   rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
 
   // update successful
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check command in handle was set
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 10.0);
diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
index a980ca5388..c041fb2de1 100644
--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
+++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller.hpp
@@ -88,7 +88,8 @@ class GripperActionController : public controller_interface::ControllerInterface
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
   GRIPPER_ACTION_CONTROLLER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   GRIPPER_ACTION_CONTROLLER_PUBLIC
   CallbackReturn on_init() override;
diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
index cff250d1f6..211e3cd4d5 100644
--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
+++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -61,7 +61,8 @@ CallbackReturn GripperActionController<HardwareInterface>::on_init()
 }
 
 template <const char * HardwareInterface>
-controller_interface::return_type GripperActionController<HardwareInterface>::update()
+controller_interface::return_type GripperActionController<HardwareInterface>::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   command_struct_rt_ = *(command_.readFromRT());
 
diff --git a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
index 50607fcab5..9a736d5cfb 100644
--- a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
+++ b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp
@@ -56,7 +56,8 @@ class IMUSensorBroadcaster : public controller_interface::ControllerInterface
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   IMU_SENSOR_BROADCASTER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 protected:
   std::string sensor_name_;
diff --git a/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
index cb5e3d6f0b..23aa33777c 100644
--- a/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp
@@ -112,11 +112,12 @@ CallbackReturn IMUSensorBroadcaster::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type IMUSensorBroadcaster::update()
+controller_interface::return_type IMUSensorBroadcaster::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   if (realtime_publisher_ && realtime_publisher_->trylock())
   {
-    realtime_publisher_->msg_.header.stamp = node_->now();
+    realtime_publisher_->msg_.header.stamp = time;
     imu_sensor_->get_values_as_message(realtime_publisher_->msg_);
     realtime_publisher_->unlockAndPublish();
   }
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index 3edc555dd7..d27be76b3b 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -90,7 +90,9 @@ void IMUSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Imu &
     "/test_imu_sensor_broadcaster/imu", 10, subs_callback);
 
   // call update to publish the test value
-  ASSERT_EQ(imu_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    imu_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // wait for message to be passed
   ASSERT_EQ(wait_for(subscription), rclcpp::WaitResultKind::Ready);
@@ -171,7 +173,9 @@ TEST_F(IMUSensorBroadcasterTest, SensorName_Update_Success)
   ASSERT_EQ(imu_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
   ASSERT_EQ(imu_broadcaster_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
 
-  ASSERT_EQ(imu_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    imu_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 }
 
 TEST_F(IMUSensorBroadcasterTest, SensorName_Publish_Success)
diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
index ff55d0210e..175c3610f6 100644
--- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
+++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp
@@ -44,7 +44,8 @@ class JointStateBroadcaster : public controller_interface::ControllerInterface
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
   JOINT_STATE_BROADCASTER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   JOINT_STATE_BROADCASTER_PUBLIC
   CallbackReturn on_init() override;
diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
index 9bc089085f..c5dbcc4c82 100644
--- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -229,7 +229,8 @@ double get_value(
   }
 }
 
-controller_interface::return_type JointStateBroadcaster::update()
+controller_interface::return_type JointStateBroadcaster::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   for (const auto & state_interface : state_interfaces_)
   {
@@ -240,8 +241,8 @@ controller_interface::return_type JointStateBroadcaster::update()
       state_interface.get_interface_name().c_str(), state_interface.get_value());
   }
 
-  joint_state_msg_.header.stamp = get_node()->get_clock()->now();
-  dynamic_joint_state_msg_.header.stamp = get_node()->get_clock()->now();
+  joint_state_msg_.header.stamp = time;
+  dynamic_joint_state_msg_.header.stamp = time;
 
   // update joint state message and dynamic joint state message
   for (auto i = 0ul; i < joint_names_.size(); ++i)
diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
index 5bf3d9dc3d..f38c108589 100644
--- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -184,7 +184,9 @@ TEST_F(JointStateBroadcasterTest, UpdateTest)
   auto node_state = state_broadcaster_->configure();
   node_state = state_broadcaster_->activate();
   ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
-  ASSERT_EQ(state_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 }
 
 void JointStateBroadcasterTest::test_published_joint_state_message(const std::string & topic)
@@ -200,7 +202,9 @@ void JointStateBroadcasterTest::test_published_joint_state_message(const std::st
   auto subscription =
     test_node.create_subscription<sensor_msgs::msg::JointState>(topic, 10, subs_callback);
 
-  ASSERT_EQ(state_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // wait for message to be passed
   ASSERT_EQ(wait_for(subscription), rclcpp::WaitResultKind::Ready);
@@ -250,7 +254,9 @@ void JointStateBroadcasterTest::test_published_dynamic_joint_state_message(
   auto subscription =
     test_node.create_subscription<control_msgs::msg::DynamicJointState>(topic, 10, subs_callback);
 
-  ASSERT_EQ(state_broadcaster_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // wait for message to be passed
   ASSERT_EQ(wait_for(subscription), rclcpp::WaitResultKind::Ready);
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index 9e66c35073..786ef42b0b 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -81,7 +81,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
-  controller_interface::return_type update() override;
+  controller_interface::return_type update(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   CallbackReturn on_init() override;
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 3e3f11f605..843ce78459 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -105,7 +105,8 @@ JointTrajectoryController::state_interface_configuration() const
   return conf;
 }
 
-controller_interface::return_type JointTrajectoryController::update()
+controller_interface::return_type JointTrajectoryController::update(
+  const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
 {
   if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
index 65e756a4d2..5bb6efaea6 100644
--- a/joint_trajectory_controller/test/test_trajectory_actions.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -94,7 +94,7 @@ class TestTrajectoryActions : public TrajectoryControllerTest
       auto end_time = start_time + wait;
       while (rclcpp::Clock().now() < end_time)
       {
-        traj_controller_->update();
+        traj_controller_->update(rclcpp::Clock().now(), rclcpp::Clock().now() - start_time);
       }
     });
 
@@ -448,7 +448,7 @@ TEST_F(TestTrajectoryActions, test_cancel_hold_position)
   const double prev_pos3 = joint_pos_[2];
 
   // run an update, it should be holding
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   EXPECT_EQ(prev_pos1, joint_pos_[0]);
   EXPECT_EQ(prev_pos2, joint_pos_[1]);
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
index d8896601c1..0a992b14f7 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -79,7 +79,7 @@ TEST_P(TrajectoryControllerTestParameterized, configure)
   publish(time_from_start, points);
   std::this_thread::sleep_for(std::chrono::milliseconds(10));
 
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   // hw position == 0 because controller is not activated
   EXPECT_EQ(0.0, joint_pos_[0]);
@@ -144,7 +144,7 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
 //   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 //   executor.spin_once();
 //
-//   traj_controller->update();
+//   traj_controller->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 //   resource_manager_->write();
 //
 //   // change in hw position
@@ -192,7 +192,7 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
 //   std::this_thread::sleep_for(std::chrono::milliseconds(500));
 //   executor.spin_once();
 //
-//   traj_controller->update();
+//   traj_controller->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 //   resource_manager_->write();
 //
 //   // deactivated
@@ -201,7 +201,7 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
 //   state = traj_controller_->deactivate();
 //   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
 //   resource_manager_->read();
-//   traj_controller->update();
+//   traj_controller->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 //   resource_manager_->write();
 //
 //   // no change in hw position
@@ -215,7 +215,7 @@ TEST_P(TrajectoryControllerTestParameterized, activate)
 //   state = traj_node->activate();
 //   ASSERT_EQ(state.id(), State::PRIMARY_STATE_ACTIVE);
 //   resource_manager_->read();
-//   traj_controller->update();
+//   traj_controller->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 //   resource_manager_->write();
 //
 //   // change in hw position to 3rd point
@@ -241,11 +241,11 @@ TEST_P(TrajectoryControllerTestParameterized, cleanup)
   std::vector<std::vector<double>> points{{{3.3, 4.4, 5.5}}};
   publish(time_from_start, points);
   traj_controller_->wait_for_trajectory(executor);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   auto state = traj_controller_->deactivate();
   ASSERT_EQ(State::PRIMARY_STATE_INACTIVE, state.id());
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   state = traj_controller_->cleanup();
   ASSERT_EQ(State::PRIMARY_STATE_UNCONFIGURED, state.id());
@@ -292,11 +292,11 @@ TEST_P(TrajectoryControllerTestParameterized, correct_initialization_using_param
   traj_controller_->wait_for_trajectory(executor);
 
   // first update
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   // wait so controller process the second point when deactivated
   std::this_thread::sleep_for(FIRST_POINT_TIME);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   // deactivated
   state = traj_controller_->deactivate();
   ASSERT_EQ(state.id(), State::PRIMARY_STATE_INACTIVE);
@@ -313,11 +313,11 @@ TEST_P(TrajectoryControllerTestParameterized, correct_initialization_using_param
   state = traj_controller_->cleanup();
 
   // update loop receives a new msg and updates accordingly
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
   // check the traj_msg_home_ptr_ initialization code for the standard wait timing
   std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   ASSERT_EQ(State::PRIMARY_STATE_UNCONFIGURED, state.id());
 
   EXPECT_NEAR(INITIAL_POS_JOINT1, joint_pos_[0], allowed_delta);
@@ -404,7 +404,7 @@ void TrajectoryControllerTest::test_state_publish_rate_target(int target_msg_cou
   const auto end_time = start_time + wait;
   while (rclcpp::Clock().now() < end_time)
   {
-    traj_controller_->update();
+    traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   }
 
   // We may miss the last message since time allowed is exactly the time needed
@@ -832,15 +832,15 @@ TEST_P(TrajectoryControllerTestParameterized, test_jump_when_state_tracking_erro
   // One the first update(s) there should be a "jump" in opposite direction from command
   // (towards the state value)
   EXPECT_NEAR(first_goal[0], joint_pos_[0], COMMON_THRESHOLD);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   // Expect backward commands at first
   EXPECT_NEAR(joint_state_pos_[0], joint_pos_[0], COMMON_THRESHOLD);
   EXPECT_GT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_LT(joint_pos_[0], first_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_LT(joint_pos_[0], first_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_LT(joint_pos_[0], first_goal[0]);
 
@@ -859,15 +859,15 @@ TEST_P(TrajectoryControllerTestParameterized, test_jump_when_state_tracking_erro
   // One the first update(s) there should be a "jump" in the goal direction from command
   // (towards the state value)
   EXPECT_NEAR(second_goal[0], joint_pos_[0], COMMON_THRESHOLD);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   // Expect backward commands at first
   EXPECT_NEAR(joint_state_pos_[0], joint_pos_[0], COMMON_THRESHOLD);
   EXPECT_LT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_GT(joint_pos_[0], first_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_LT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_GT(joint_pos_[0], first_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_LT(joint_pos_[0], joint_state_pos_[0]);
   EXPECT_GT(joint_pos_[0], first_goal[0]);
 
@@ -916,15 +916,15 @@ TEST_P(TrajectoryControllerTestParameterized, test_no_jump_when_state_tracking_e
   // One the first update(s) there **should not** be a "jump" in opposite direction from command
   // (towards the state value)
   EXPECT_NEAR(first_goal[0], joint_pos_[0], COMMON_THRESHOLD);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   // There should not be backward commands
   EXPECT_NEAR(first_goal[0], joint_pos_[0], COMMON_THRESHOLD);
   EXPECT_GT(joint_pos_[0], first_goal[0]);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], first_goal[0]);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], first_goal[0]);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
 
@@ -943,15 +943,15 @@ TEST_P(TrajectoryControllerTestParameterized, test_no_jump_when_state_tracking_e
   // One the first update(s) there **should not** be a "jump" in the goal direction from command
   // (towards the state value)
   EXPECT_NEAR(second_goal[0], joint_pos_[0], COMMON_THRESHOLD);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   // There should not be a jump toward commands
   EXPECT_NEAR(second_goal[0], joint_pos_[0], COMMON_THRESHOLD);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
   EXPECT_GT(joint_pos_[0], first_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], first_goal[0]);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
-  traj_controller_->update();
+  traj_controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
   EXPECT_GT(joint_pos_[0], first_goal[0]);
   EXPECT_LT(joint_pos_[0], second_goal[0]);
 
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 5224a64aeb..8ece5c393a 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -303,7 +303,7 @@ class TrajectoryControllerTest : public ::testing::Test
     const auto end_time = start_time + wait_time;
     while (rclcpp::Clock().now() < end_time)
     {
-      traj_controller_->update();
+      traj_controller_->update(rclcpp::Clock().now(), rclcpp::Clock().now() - start_time);
     }
   }
 
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
index 2c8ddecb7f..be774031f0 100644
--- a/position_controllers/test/test_joint_group_position_controller.cpp
+++ b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -114,7 +114,9 @@ TEST_F(JointGroupPositionControllerTest, CommandSuccessTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful though no command has been send yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -127,7 +129,9 @@ TEST_F(JointGroupPositionControllerTest, CommandSuccessTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update successful, command received
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands have been modified
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 10.0);
@@ -147,7 +151,9 @@ TEST_F(JointGroupPositionControllerTest, WrongCommandCheckTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update failed, command size does not match number of joints
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::ERROR);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -162,7 +168,9 @@ TEST_F(JointGroupPositionControllerTest, NoCommandCheckTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful, no command received yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 1.1);
@@ -201,7 +209,9 @@ TEST_F(JointGroupPositionControllerTest, CommandCallbackTest)
   rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
 
   // update successful
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check command in handle was set
   ASSERT_EQ(joint_1_pos_cmd_.get_value(), 10.0);
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
index d2c6cbc57a..b566829f9b 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -114,7 +114,9 @@ TEST_F(JointGroupVelocityControllerTest, CommandSuccessTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful though no command has been send yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -127,7 +129,9 @@ TEST_F(JointGroupVelocityControllerTest, CommandSuccessTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update successful, command received
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands have been modified
   ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
@@ -147,7 +151,9 @@ TEST_F(JointGroupVelocityControllerTest, WrongCommandCheckTest)
   controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
 
   // update failed, command size does not match number of joints
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::ERROR);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::ERROR);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -162,7 +168,9 @@ TEST_F(JointGroupVelocityControllerTest, NoCommandCheckTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // update successful, no command received yet
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
   ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
@@ -201,7 +209,9 @@ TEST_F(JointGroupVelocityControllerTest, CommandCallbackTest)
   rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
 
   // update successful
-  ASSERT_EQ(controller_->update(), controller_interface::return_type::OK);
+  ASSERT_EQ(
+    controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+    controller_interface::return_type::OK);
 
   // check command in handle was set
   ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);