diff --git a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
index b279e57f3a..985248fc51 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
@@ -67,6 +67,18 @@ class Controller
     const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool is_docking,
     bool backward = false);
 
+  /**
+   * @brief Perform a command for in-place rotation.
+   * @param angular_distance_to_heading Angular distance to goal
+   * @param current_velocity Current angular velocity
+   * @param dt Control loop duration [s]
+   * @returns TwistStamped command.
+   */
+  geometry_msgs::msg::Twist computeRotateToHeadingCommand(
+    const double & angular_distance_to_heading,
+    const geometry_msgs::msg::Twist & current_velocity,
+    const double & dt);
+    
 protected:
   /**
    * @brief Check if a trajectory is collision free.
@@ -103,18 +115,6 @@ class Controller
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
   std::mutex dynamic_params_lock_;
 
-  /**
-   * @brief Perform a command for in-place rotation.
-   * @param angular_distance_to_heading Angular distance to goal
-   * @param current_velocity Current angular velocity
-   * @param dt Control loop duration [s]
-   * @returns TwistStamped command.
-   */
-  geometry_msgs::msg::Twist computeRotateToHeadingCommand(
-    const double & angular_distance_to_heading,
-    const geometry_msgs::msg::Twist & current_velocity,
-    const double & dt);
-
 protected:
   rclcpp::Logger logger_{rclcpp::get_logger("Controller")};
   rclcpp::Clock::SharedPtr clock_;
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index 2bab3407f4..e09221814b 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -783,7 +783,7 @@ DockingServer::dynamicParametersCallback(std::vector<rclcpp::Parameter> paramete
         undock_linear_tolerance_ = parameter.as_double();
       } else if (name == "undock_angular_tolerance") {
         undock_angular_tolerance_ = parameter.as_double();
-        else if (name == "backward_rotation_tolerance") {
+      } else if (name == "backward_rotation_tolerance") {
         backward_rotation_tolerance_ = parameter.as_double();
       }
     } else if (type == ParameterType::PARAMETER_STRING) {