diff --git a/actuators_rppico_hardware_interface/CMakeLists.txt b/actuators_rppico_hardware_interface/CMakeLists.txt
index 7a0acdf..6d5fa8c 100644
--- a/actuators_rppico_hardware_interface/CMakeLists.txt
+++ b/actuators_rppico_hardware_interface/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 project(actuators_rppico_h_i LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Wno-unused-variable)
+  add_compile_options(-Wno-unused-variable)
 endif()
 
 # find dependencies
diff --git a/actuators_rppico_hardware_interface/hardware/actuators_rppico_h_i.cpp b/actuators_rppico_hardware_interface/hardware/actuators_rppico_h_i.cpp
index 4c108ac..2ba5e17 100644
--- a/actuators_rppico_hardware_interface/hardware/actuators_rppico_h_i.cpp
+++ b/actuators_rppico_hardware_interface/hardware/actuators_rppico_h_i.cpp
@@ -179,7 +179,11 @@ hardware_interface::CallbackReturn ActuatorsRpPicoHardware::on_deactivate(
 hardware_interface::return_type ActuatorsRpPicoHardware::read(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & period)
 {
-
+  if (!comms_.connected())
+  {
+    return hardware_interface::return_type::ERROR;
+  }
+  
   return hardware_interface::return_type::OK;
 }
 
diff --git a/actuators_rppico_hardware_interface/hardware/include/actuators_rppico_h_i/servo.hpp b/actuators_rppico_hardware_interface/hardware/include/actuators_rppico_h_i/servo.hpp
index 9e24607..463cccf 100644
--- a/actuators_rppico_hardware_interface/hardware/include/actuators_rppico_h_i/servo.hpp
+++ b/actuators_rppico_hardware_interface/hardware/include/actuators_rppico_h_i/servo.hpp
@@ -16,13 +16,13 @@ class Servo
 
     Servo() = default;
 
-    Servo(const std::string &servo_name, int servo_number)
+    Servo(const std::string servo_name, int servo_number)
     {
       setup(servo_name, servo_number);
     }
 
     
-    void setup(const std::string &servo_name, int servo_number)
+    void setup(const std::string servo_name, int servo_number)
     {
       name = servo_name;
       this->servo_number = servo_number;