Use get_lifecycle_id instead of get_lifecycle_state (backport #2053)

[mergify]

Use the new API instead of get_lifecycle_state

---

This is an automatic backport of pull request #2053 done by Mergify.

[mergify]

Cherry-pick of 4a8192a has failed:

On branch mergify/bp/jazzy/pr-2053
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 4a8192a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   joint_trajectory_controller/src/joint_trajectory_controller.cpp
	modified:   joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   motion_primitives_controllers/src/motion_primitives_forward_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 33.33333% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.58%. Comparing base (e25ef8f) to head (f95d190).
⚠️ Report is 1 commits behind head on jazzy.

Files with missing lines	Patch %	Lines
...ory_controller/src/joint_trajectory_controller.cpp	0.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #2055      +/-   ##
==========================================
- Coverage   84.59%   84.58%   -0.01%     
==========================================
  Files         143      143              
  Lines       13868    13867       -1     
  Branches     1228     1229       +1     
==========================================
- Hits        11731    11730       -1     
  Misses       1703     1703              
  Partials      434      434              

Flag	Coverage Δ
unittests	84.58% <33.33%> (-0.01%)	⬇️

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Files with missing lines	Coverage Δ
...ntroller/test/test_trajectory_controller_utils.hpp	84.29% <100.00%> (-0.05%)	⬇️
...ory_controller/src/joint_trajectory_controller.cpp	82.98% <0.00%> (ø)

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