diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index f5dd2e3c0f..2913838138 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -203,8 +203,6 @@ controller_interface::return_type DiffDriveController::update(
 
   if (should_publish)
   {
-    previous_publish_timestamp_ += publish_period_;
-
     if (realtime_odometry_publisher_->trylock())
     {
       auto & odometry_message = realtime_odometry_publisher_->msg_;