diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index cc04b73448..e19d59df80 100644
--- 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
index c7d14ba635..daf07d2bb6 100644
--- 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());
   }
 }