add naming changes from state to lifecycle_state

ros-controls · Sep 26, 2024 · fc2dfe3 · fc2dfe3
1 parent e7b3b5e
commit fc2dfe3
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1682,7 +1682,7 @@ void ControllerManager::activate_controllers(
  }
  controller->assign_interfaces(std::move(command_loans), std::move(state_loans));
 
- auto new_state = controller->get_state();
+ auto new_state = controller->get_lifecycle_state();
  try
  {
  new_state = controller->get_node()->activate();

diff --git a/controller_manager/test/test_release_interfaces.cpp b/controller_manager/test/test_release_interfaces.cpp
@@ -233,10 +233,10 @@ TEST_F(TestReleaseExclusiveInterfaces, test_exclusive_interface_switching_failur
 
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
- abstract_test_controller1.c->get_state().id());
+ abstract_test_controller1.c->get_lifecycle_state().id());
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
- abstract_test_controller2.c->get_state().id());
+ abstract_test_controller2.c->get_lifecycle_state().id());
 
  { // Test starting the first controller
  RCLCPP_INFO(cm_->get_logger(), "Starting controller #1");
@@ -251,10 +251,10 @@ TEST_F(TestReleaseExclusiveInterfaces, test_exclusive_interface_switching_failur
  EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
- abstract_test_controller1.c->get_state().id());
+ abstract_test_controller1.c->get_lifecycle_state().id());
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
- abstract_test_controller2.c->get_state().id());
+ abstract_test_controller2.c->get_lifecycle_state().id());
  }
 
  { // Test starting the second controller when the first is running
@@ -271,9 +271,9 @@ TEST_F(TestReleaseExclusiveInterfaces, test_exclusive_interface_switching_failur
  EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
- abstract_test_controller1.c->get_state().id());
+ abstract_test_controller1.c->get_lifecycle_state().id());
  ASSERT_EQ(
  lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
- abstract_test_controller2.c->get_state().id());
+ abstract_test_controller2.c->get_lifecycle_state().id());
  }
 }