diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h index 845989d155b6cb9899c9ae6e494d3ee35fbc60a6..bca555ca18f63963585f26553b20756078dae9a0 100644 --- a/franka_hw/include/franka_hw/franka_hw.h +++ b/franka_hw/include/franka_hw/franka_hw.h @@ -174,8 +174,7 @@ class FrankaHW : public hardware_interface::RobotHW { const franka::RobotState& robot_state, franka::Duration time_step) { robot_state_ = robot_state; - bool controller_active = controller_active_; - 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;