typo in clik

Author: Hydran00

README.md

@@ -45,9 +45,9 @@ controller_manager:
     max_linear_velocity: 0.3
     max_angular_velocity: 0.3
     # CLIK parameters
-    click_dt: 0.1 # integration time step
-    click_it_max: 50 # maximum number of iterations for each control step
-    click_eps: 2e-4 # convergence threshold
+    clik_dt: 0.1 # integration time step
+    clik_it_max: 50 # maximum number of iterations for each control step
+    clik_eps: 2e-4 # convergence threshold
     clik_filter_alpha: 0.5 # low-pass filter alpha for the output (lower it to avoid motor noise) 
 
     end_effector_link: "lbr_link_ee"

kuka_clik_controller/src/kuka_clik_controller.cpp

@@ -33,8 +33,8 @@ KukaClikController::on_init() {
               m_max_linear_velocity);
   RCLCPP_WARN(get_node()->get_logger(), "Max angular velocity: %f",
               m_max_angular_velocity);
-  RCLCPP_WARN(get_node()->get_logger(), "CLIK alpha filter: %f",
-              m_max_angular_velocity);
+  RCLCPP_WARN(get_node()->get_logger(), "CLIK parameters: dt: %f, it_max: %d, eps: %f, filter_alpha: %f",
+              m_click_dt, m_click_it_max_, m_click_eps_, m_clik_filter_alpha_);
 
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
       CallbackReturn::SUCCESS;