diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 583ab3cee0..b6ab481282 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -1230,8 +1230,6 @@ controller_interface::return_type ControllerManager::update(
 
   for (auto loaded_controller : rt_controller_list)
   {
-    // TODO(v-lopez) we could cache this information
-    // https://github.com/ros-controls/ros2_control/issues/153
     if (is_controller_active(*loaded_controller.c))
     {
       auto controller_update_rate = loaded_controller.c->get_update_rate();
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index 2885f5f70d..4e7aa8238b 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -41,17 +41,19 @@ int main(int argc, char ** argv)
     RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 
     rclcpp::Time begin = cm->now();
+    rclcpp::Time begin_last = begin;
+    rclcpp::Time end = begin;
 
     // Use nanoseconds to avoid chrono's rounding
     std::this_thread::sleep_for(std::chrono::nanoseconds(1000000000 / cm->get_update_rate()));
     while (rclcpp::ok())
     {
-      rclcpp::Time begin_last = begin;
       begin = cm->now();
       cm->read();
       cm->update(begin, begin - begin_last);
+      begin_last = begin;
       cm->write();
-      rclcpp::Time end = cm->now();
+      end = cm->now();
       std::this_thread::sleep_for(std::max(
         std::chrono::nanoseconds(0),
         std::chrono::nanoseconds(1000000000 / cm->get_update_rate()) -