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Use get_lifecycle_id instead of get_lifecycle_state (backport #2053) #2055

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Merged
christophfroehlich merged 2 commits into from
Dec 7, 2025
Merged

Use get_lifecycle_id instead of get_lifecycle_state (backport #2053) #2055

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30b56b6
Use get_lifecycle_id instead of get_lifecycle_state (#2053)
saikishor Dec 7, 2025
f95d190
Delete motion_primitives_controllers/src/motion_primitives_forward_co…
christophfroehlich Dec 7, 2025
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4 changes: 2 additions & 2 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -693,7 +693,7 @@ 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;
Expand Down Expand Up @@ -1269,7 +1269,7 @@ 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.");
Expand Down
4 changes: 1 addition & 3 deletions joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -421,9 +421,7 @@ 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(),
Expand Down
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