message: Don't run ROS callback before exiting loop
diff: @@ -174,8 +174,7 @@ class FrankaHW : public hardware_interface::RobotHW {
  const franka::RobotState& robot_state,
  franka::Duration time_step) {
  robot_state_ = robot_state;
  - bool controller_active = controller_active_;
  - if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active) {
  + if (!controller_active_ || ros_callback && !ros_callback(robot_state, time_step)) {
  return franka::MotionFinished(command);
  }
  return command;
  