diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index a64f210503..66da6d6738 100644
--- 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
index c66448f4e4..d39b7047f6 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -154,7 +154,7 @@ controller_interface::return_type JointTrajectoryController::update(
     scaling_factor_ = scaling_state_interface_->get().get_value();
   }
 
-  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;
   }
@@ -631,7 +631,7 @@ 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;
@@ -1205,7 +1205,7 @@ 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
index 94ff63e659..ec7ca7bd5e 100644
--- 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)
     {