diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
index 417a69f..07fb522 100644
--- a/src/ypspur_ros.cpp
+++ b/src/ypspur_ros.cpp
@@ -1032,9 +1032,10 @@ class YpspurRosNode
           joint.header.stamp = ros::Time(t);
         }
 
-        if (!avoid_publishing_duplicated_joints_ || (joint.header.stamp > previous_joint_stamp_))
+        if (!avoid_publishing_duplicated_joints_ || (joint.header.stamp > previous_joints_stamp_))
         {
           pubs_["joint"].publish(joint);
+          previous_joints_stamp_ = joint.header.stamp;
         }