diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h
index 9d967f4302a200d718f20a04d0fe6d3fd57686b4..bca555ca18f63963585f26553b20756078dae9a0 100644
--- a/franka_hw/include/franka_hw/franka_hw.h
+++ b/franka_hw/include/franka_hw/franka_hw.h
@@ -174,7 +174,7 @@ class FrankaHW : public hardware_interface::RobotHW {
                     const franka::RobotState& robot_state,
                     franka::Duration time_step) {
     robot_state_ = robot_state;
-    if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active_) {
+    if (!controller_active_ || ros_callback && !ros_callback(robot_state, time_step)) {
       return franka::MotionFinished(command);
     }
     return command;