From 015decf2f1dfff0387afa712c20da22f59b9dbd6 Mon Sep 17 00:00:00 2001 From: Lennart Nachtigall Date: Thu, 21 Nov 2024 09:17:30 +0100 Subject: [PATCH] run pre-commit --- admittance_controller/src/admittance_controller.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp index 3d034d6f0b..58a5bcd6e2 100644 --- a/admittance_controller/src/admittance_controller.cpp +++ b/admittance_controller/src/admittance_controller.cpp @@ -289,10 +289,14 @@ controller_interface::CallbackReturn AdmittanceController::on_configure( "~/wrench_reference", rclcpp::SystemDefaultsQoS(), [&](const geometry_msgs::msg::WrenchStamped & msg) { - if (msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id && !msg.header.frame_id.empty()) + 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);