diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h
index 8930ab0..8f01839 100755
--- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h
+++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h
@@ -83,7 +83,7 @@ namespace robot_nav_2d_utils
    * @param frame_id Frame to transform the pose into
    * @return The resulting transformed pose
    */
-  ::geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
+  geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
                                              const ::std::string &frame_id);
 
 } // namespace robot_nav_2d_utils
diff --git a/src/Navigations/Packages/move_base/src/move_base.cpp b/src/Navigations/Packages/move_base/src/move_base.cpp
index 660d22e..95c85fa 100644
--- a/src/Navigations/Packages/move_base/src/move_base.cpp
+++ b/src/Navigations/Packages/move_base/src/move_base.cpp
@@ -1275,10 +1275,7 @@ geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame(const geometry
   geometry_msgs::PoseStamped goal_pose, global_pose;
   goal_pose = goal_pose_msg;
 
-  // just get the latest available transform... for accuracy they should send
-  // goals in the frame of the planner
   goal_pose.header.stamp = robot::Time();     // latest available
-
   try
   {
     tf3::TransformStampedMsg transform = tf_->lookupTransform(global_frame, goal_pose.header.frame_id, data_convert::convertTime(goal_pose.header.stamp));
@@ -1299,7 +1296,6 @@ geometry_msgs::PoseStamped move_base::MoveBase::goalToGlobalFrame(const geometry
     std::cerr << "Extrapolation Error looking up robot pose: " << ex.what() << std::endl;
     return goal_pose_msg;
   }
-
   return global_pose;
 }