diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
index 93ffa0a9..27303c1e 100644
--- 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;
   }