diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 765f80fc73..5bc8da69c9 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -722,7 +722,7 @@ void JointTrajectoryController::query_state_service(
 {
   const auto logger = get_node()->get_logger();
   // Preconditions
-  if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  if (get_lifecycle_id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active.");
     response->success = false;
@@ -1360,7 +1360,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback(
   RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");
 
   // Precondition: Running controller
-  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(), "Can't accept new action goals. Controller is not running.");
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 5b7da75390..f80b281061 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -427,9 +427,7 @@ class TrajectoryControllerTest : public ::testing::Test
   {
     if (traj_controller_)
     {
-      if (
-        traj_controller_->get_lifecycle_state().id() ==
-        lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+      if (traj_controller_->get_lifecycle_id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
       {
         EXPECT_EQ(
           traj_controller_->get_node()->deactivate().id(),
diff --git a/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp b/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp
index db8a974ece..35bdfb511b 100644
--- a/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp
+++ b/motion_primitives_controllers/src/motion_primitives_forward_controller.cpp
@@ -224,7 +224,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal
   RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");
 
   // Precondition: Running controller
-  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(), "Can't accept new trajectories. Controller is not running.");