rename get/set_state to get/set_lifecylce_state (ros-controls#1250)

StoglRobotics-forks · Aug 26, 2024 · ce12694 · ce12694
1 parent 1c4d58e
commit ce12694
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -101,7 +101,7 @@ controller_interface::return_type DiffDriveController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   auto logger = get_node()->get_logger();
-  if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE)
   {
     if (!is_halted)
     {

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -137,7 +137,7 @@ JointTrajectoryController::state_interface_configuration() const
 controller_interface::return_type JointTrajectoryController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  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;
   }
@@ -593,7 +593,7 @@ void JointTrajectoryController::query_state_service(
 {
   const auto logger = get_node()->get_logger();
   // Preconditions
-  if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
+  if (get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
   {
     RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active.");
     response->success = false;
@@ -1112,7 +1112,7 @@ rclcpp_action::GoalResponse JointTrajectoryController::goal_received_callback(
   RCLCPP_INFO(get_node()->get_logger(), "Received new action goal");
 
   // Precondition: Running controller
-  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
   {
     RCLCPP_ERROR(
       get_node()->get_logger(), "Can't accept new action goals. Controller is not running.");

diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
@@ -86,7 +86,7 @@ InterfaceConfiguration TricycleController::state_interface_configuration() const
 controller_interface::return_type TricycleController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
+  if (get_lifecycle_state().id() == State::PRIMARY_STATE_INACTIVE)
   {
     if (!is_halted)
     {