Use get_lifecycle_id instead of get_lifecycle_state (#2053)

saikishor · mergify[bot] · commit e987cd36ff06 · 2026-02-22T20:50:00.000Z
(cherry picked from commit 4a8192a)
diff --git 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.");

Original file line number	Diff line number	Diff line change
`@@ -224,7 +224,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal`
`224`	`224`	`RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");`
`225`	`225`
`226`	`226`	`// Precondition: Running controller`
`227`		`- if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)`
	`227`	`+ if (get_lifecycle_id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)`
`228`	`228`	`{`
`229`	`229`	`RCLCPP_ERROR(`
`230`	`230`	`get_node()->get_logger(), "Can't accept new trajectories. Controller is not running.");`