diff --git a/src/base-estimator.cpp b/src/base-estimator.cpp
index 52858fb8e138917a4ce98c593a0782700c84177b..628921e072d8ea3678dfe702a8ce054c1a1c0a48 100644
--- a/src/base-estimator.cpp
+++ b/src/base-estimator.cpp
@@ -17,10 +17,8 @@
 #include <sot/talos_balance/base-estimator.hh>
 #include <sot/core/debug.hh>
 #include <dynamic-graph/factory.h>
-
 #include <sot/talos_balance/utils/commands-helper.hh>
 #include <sot/talos_balance/utils/stop-watch.hh>
-
 #include "pinocchio/algorithm/frames.hpp"
 
 namespace dynamicgraph
@@ -282,7 +280,7 @@ namespace dynamicgraph
           }
           else
           {
-            SEND_MSG("You should have an entity controller manager initialized before",MSG_TYPE_ERROR);
+            SEND_MSG("You should have a robotUtil pointer initialized before",MSG_TYPE_ERROR);
             return;
           }
 
diff --git a/src/example.cpp b/src/example.cpp
index 4e7f97d1ca3a9e274818c07840d2e972f28f8223..27399671d1f22b42538acae2468ba27c27436603 100644
--- a/src/example.cpp
+++ b/src/example.cpp
@@ -74,15 +74,17 @@ namespace dynamicgraph
         if(!m_secondAddendSIN.isPlugged())
           return SEND_MSG("Init failed: signal secondAddend is not plugged", MSG_TYPE_ERROR);
 
-        std::string & robotName_nonconst = const_cast<std::string &>(robotName);
+        /*std::string & robotName_nonconst = const_cast<std::string &>(robotName);*/
+        std::string robotName_nonconst(robotName);
 
         if (!isNameInRobotUtil(robotName_nonconst))
         {
-          m_robot_util = createRobotUtil(robotName_nonconst);
+          SEND_MSG("You should have a robotUtil pointer initialized before",MSG_TYPE_ERROR);
         }
         else
         {
           m_robot_util = getRobotUtil(robotName_nonconst);
+          std::cerr << "m_robot_util:" << m_robot_util << std::endl;
         }
 
         m_initSucceeded = true;