Updated get_state to get_lifecycle_state (UniversalRobots#1087)

VinDp · web-flow · commit 76402a543dad · 2024-08-29T14:59:12.000+02:00
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;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -83,7 +83,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const`
`83`	`83`	`scaled_params_.speed_scaling_interface_name.c_str());`
`84`	`84`	`}`
`85`	`85`
`86`		`- if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {`
	`86`	`+ if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {`
`87`	`87`	`return controller_interface::return_type::OK;`
`88`	`88`	`}`
`89`	`89`