From 9fecd0844f6519ef5f852058711de4bc8eeea220 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Thu, 17 May 2018 16:48:15 +0200
Subject: [PATCH] Don't run ROS callback before exiting loop

---
 franka_hw/include/franka_hw/franka_hw.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/franka_hw/include/franka_hw/franka_hw.h b/franka_hw/include/franka_hw/franka_hw.h
index 845989d..bca555c 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;
-- 
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