diff --git a/src/main.cpp b/src/main.cpp
index 5aeed60..885696d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -266,9 +266,9 @@ private:
         }
         // READY: online cone discovery (3Hz) + optional dynamic obstacles
         if (has_scan_) {
-            auto now = rclcpp::Clock().now();
-            if (online_cone_enable_ && (now - last_cone_tick_).seconds() > 0.3) {
-                last_cone_tick_ = now;
+            auto cone_now = this->now();
+            if (online_cone_enable_ && (cone_now - last_cone_tick_).seconds() > 0.3) {
+                last_cone_tick_ = cone_now;
                 cone_updater_.update(latest_scan_, pose, fence_model_, known_cones_);
                 auto new_cones = cone_updater_.popConfirmed();
                 for (auto& c : new_cones) {