Apply suggestions from code review

Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Aug 22, 2024 · 9bb9435 · 9bb9435
1 parent e260c69
commit 9bb9435
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -28,7 +28,7 @@
 namespace admittance_controller
 {
 
-static geometry_msgs::msg::Wrench add_wrenches(
+geometry_msgs::msg::Wrench add_wrenches(
   const geometry_msgs::msg::Wrench & a, const geometry_msgs::msg::Wrench & b)
 {
   geometry_msgs::msg::Wrench res;
@@ -292,7 +292,7 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
         if (msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id && !msg.header.frame_id.empty())
         {
           RCLCPP_ERROR_STREAM(
-            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: " << msg.header.frame_id << ". Expected reference frame: << admittance_->parameters_.ft_sensor.frame_id);
+            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: " << msg.header.frame_id << ". Expected reference frame: " << admittance_->parameters_.ft_sensor.frame_id);
           return;
         }
         input_wrench_command_.writeFromNonRT(msg);