diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 6890cea55e..71425da399 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -167,7 +167,8 @@ controller_interface::return_type JointTrajectoryController::update(
   }
 
   // current state update
-  state_current_.time_from_start.set__sec(0);
+  state_current_.time_from_start.sec = 0;
+  state_current_.time_from_start.nanosec = 0;
   read_state_from_state_interfaces(state_current_);
 
   // currently carrying out a trajectory