diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index 20c4b9d73d6cc2d27c76fe2d921972169d20eded..49bf2d22eeb60a78dbc22e2ce5dc67842f65d41c 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -258,6 +258,8 @@ namespace dynamicgraph
     if (dt < rate_)
       return dummy;
 
+    lastPublicated_ = ros::Time::now();
+
     while(! mutex_.try_lock() ){}
     for (iterator_t it = bindedSignal_.begin ();
 	 it != bindedSignal_.end (); ++it)