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Co-authored-by: Vincenzo Di Pentima <[email protected]>
UniversalRobots · Nov 25, 2024 · 9ec6565 · 9ec6565
1 parent 6256577
commit 9ec6565
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/ur_controllers/src/force_mode_controller.cpp b/ur_controllers/src/force_mode_controller.cpp
@@ -234,7 +234,7 @@ bool ForceModeController::setForceMode(const ur_msgs::srv::SetForceMode::Request
 {
   // Reject if controller is not active
   if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
-    RCLCPP_ERROR(get_node()->get_logger(), "Can't accept new action goals. Controller is not running.");
+    RCLCPP_ERROR(get_node()->get_logger(), "Can't accept new requests. Controller is not running.");
     resp->success = false;
     return false;
   }

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -1034,7 +1034,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY ||
-                 item == hardware_interface::HW_IF_POSITION /*|| item == PASSTHROUGH_GPIO*/);
+                 item == hardware_interface::HW_IF_POSITION || item == PASSTHROUGH_GPIO);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start passthrough_trajectory control while there is either position or "
                                "velocity mode is running.");