done

evan-palmer · evan-palmer · commit 3773aaf41ebb · 2025-04-25T17:45:25.000-07:00
diff --git a/velocity_controllers/src/adaptive_integral_terminal_sliding_mode_controller.cpp b/velocity_controllers/src/adaptive_integral_terminal_sliding_mode_controller.cpp
@@ -129,6 +129,7 @@ auto AdaptiveIntegralTerminalSlidingModeController::on_configure(const rclcpp_li
         system_state_.writeFromNonRT(*msg);
       });
   } else {
+    RCLCPP_INFO(logger_, "Using state interfaces and tf2 to get the system state");  // NOLINT
     tf_buffer_ = std::make_unique<tf2_ros::Buffer>(get_node()->get_clock());
     tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
   }

Original file line number	Diff line number	Diff line change
`@@ -129,6 +129,7 @@ auto AdaptiveIntegralTerminalSlidingModeController::on_configure(const rclcpp_li`
`129`	`129`	`system_state_.writeFromNonRT(*msg);`
`130`	`130`	`});`
`131`	`131`	`} else {`
	`132`	`+ RCLCPP_INFO(logger_, "Using state interfaces and tf2 to get the system state"); // NOLINT`
`132`	`133`	`tf_buffer_ = std::make_unique<tf2_ros::Buffer>(get_node()->get_clock());`
`133`	`134`	`tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);`
`134`	`135`	`}`