From ad6053a578f41edd44154f5d8a4d7fa427182f69 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 7 Nov 2024 16:33:02 +0100
Subject: [PATCH] Add the part of checking the lifecycle state

---
 .../test/test_trajectory_controller_utils.hpp                 | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 0d91224193..a850891331 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -400,7 +400,9 @@ class TrajectoryControllerTest : public ::testing::Test
         traj_controller_->get_lifecycle_state().id() ==
         lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
       {
-        traj_controller_->get_node()->deactivate();
+        EXPECT_EQ(
+          traj_controller_->get_node()->deactivate().id(),
+          lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
       }
     }
   }