From 21dd3ad89715bba8b3f2ac008047aa5ac86f4fa5 Mon Sep 17 00:00:00 2001
From: Simon Gabl <simon.gabl@franka.de>
Date: Mon, 29 Jan 2018 15:39:17 +0100
Subject: [PATCH] Fix typo.

---
 franka_example_controllers/src/force_example_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/franka_example_controllers/src/force_example_controller.cpp b/franka_example_controllers/src/force_example_controller.cpp
index 4b3f0ca..a31848a 100644
--- a/franka_example_controllers/src/force_example_controller.cpp
+++ b/franka_example_controllers/src/force_example_controller.cpp
@@ -115,7 +115,7 @@ void ForceExampleController::update(const ros::Time& /*time*/, const ros::Durati
   tau_ext = tau_measured - gravity - tau_ext_initial_;
   tau_d << jacobian.transpose() * desired_force_torque;
   tau_error_ = tau_error_ + period.toSec() * (tau_d - tau_ext);
-  // FF + PI control (PI gains are intially all 0)
+  // FF + PI control (PI gains are initially all 0)
   tau_cmd = tau_d + k_p_ * (tau_d - tau_ext) + k_i_ * tau_error_;
   tau_cmd << saturateTorqueRate(tau_cmd, tau_J_d);
 
-- 
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