Add fixes to the added flags

ros-controls · Jan 3, 2024 · 6edde91 · 6edde91
1 parent b58f9d4
commit 6edde91
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -147,7 +147,7 @@ inline bool check_state_tolerance_per_joint(
   if (show_errors)
   {
     const auto logger = rclcpp::get_logger("tolerances");
-    RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
+    RCLCPP_ERROR(logger, "State tolerances failed for joint %ld:", joint_idx);
 
     if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
     {

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -171,10 +171,10 @@ controller_interface::CallbackReturn PidController::on_configure(
   if (params_.use_external_measured_states)
   {
     auto measured_state_callback =
-      [&](const std::shared_ptr<ControllerMeasuredStateMsg> msg) -> void
+      [&](const std::shared_ptr<ControllerMeasuredStateMsg> state_msg) -> void
     {
       // TODO(destogl): Sort the input values based on joint and interface names
-      measured_state_.writeFromNonRT(msg);
+      measured_state_.writeFromNonRT(state_msg);
     };
     measured_state_subscriber_ = get_node()->create_subscription<ControllerMeasuredStateMsg>(
       "~/measured_state", subscribers_qos, measured_state_callback);