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Updated get_state to get_lifecycle_state (#1087)
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VinDp authored Aug 29, 2024
1 parent 76de658 commit 76402a5
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion ur_controllers/src/scaled_joint_trajectory_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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;
}

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