diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp
index 25962cf130..10689c3341 100644
--- a/moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp
+++ b/moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp
@@ -1,4 +1,5 @@
 /*********************************************************************
+ * Software License Agreement (BSD License)
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2022, Metro Robots
@@ -32,12 +33,15 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
+
 /* Author: David V. Lu!! */
 
+
 #include <moveit_setup_controllers/controllers_config.hpp>
 #include <moveit_setup_framework/data/srdf_config.hpp>
 #include <moveit_setup_framework/data_warehouse.hpp>
 
+
 namespace moveit_setup
 {
 namespace controllers
@@ -52,26 +56,32 @@ bool ControllersConfig::addController(const std::string& name, const std::string
   return addController(controller);
 }
 
+
 bool ControllersConfig::addController(const ControllerInfo& new_controller)
 {
   // Used for holding our search results
   ControllerInfo* searched_ros_controller = nullptr;
 
+
   // Find if there is an existing controller with the same name
   searched_ros_controller = findControllerByName(new_controller.name_);
 
-  if (searched_ros_controller && searched_ros_controller->type_ == new_controller.type_)
+
+  if (searched_ros_controller)
     return false;
 
+
   controllers_.push_back(new_controller);
   return true;
 }
 
+
 ControllerInfo* ControllersConfig::findControllerByName(const std::string& controller_name)
 {
   // Find the Controller we are editing based on the Controller name string
   ControllerInfo* searched_ros_controller = nullptr;  // used for holding our search results
 
+
   for (ControllerInfo& ros_control_config : controllers_)
   {
     if (ros_control_config.name_ == controller_name)  // string match
@@ -81,9 +91,11 @@ ControllerInfo* ControllersConfig::findControllerByName(const std::string& contr
     }
   }
 
+
   return searched_ros_controller;
 }
 
+
 bool ControllersConfig::deleteController(const std::string& controller_name)
 {
   for (std::vector<ControllerInfo>::iterator controller_it = controllers_.begin(); controller_it != controllers_.end();