Updated get_state to get_lifecycle_state (#1087)

UniversalRobots · Aug 29, 2024 · 76402a5 · 76402a5
1 parent 76de658
commit 76402a5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -83,7 +83,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
                  scaled_params_.speed_scaling_interface_name.c_str());
   }
 
-  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
+  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
     return controller_interface::return_type::OK;
   }