diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index c19cbff9cf..506d85f0a8 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -105,9 +105,10 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
     controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
-  ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
+  bool status;
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
 
   // send command
   auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
@@ -120,9 +121,9 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
     controller_interface::return_type::OK);
 
   // check joint commands have been modified
-  ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 20.0);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 30.0);
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 10.0);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 20.0);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 30.0);
 }
 
 TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
@@ -142,9 +143,10 @@ TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
     controller_interface::return_type::ERROR);
 
   // check joint commands are still the default ones
-  ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
+  bool status;
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
 }
 
 TEST_F(JointGroupEffortControllerTest, NoCommandCheckTest)
@@ -159,9 +161,10 @@ TEST_F(JointGroupEffortControllerTest, NoCommandCheckTest)
     controller_interface::return_type::OK);
 
   // check joint commands are still the default ones
-  ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
+  bool status;
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
 }
 
 TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
@@ -170,9 +173,10 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
   controller_->get_node()->set_parameter({"joints", joint_names_});
 
   // default values
-  ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
+  bool status;
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
 
   auto node_state = controller_->get_node()->configure();
   ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
@@ -203,9 +207,9 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
     controller_interface::return_type::OK);
 
   // check command in handle was set
-  ASSERT_EQ(joint_1_cmd_.get_value(), 10.0);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 20.0);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 30.0);
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 10.0);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 20.0);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 30.0);
 }
 
 TEST_F(JointGroupEffortControllerTest, StopJointsOnDeactivateTest)
@@ -217,15 +221,16 @@ TEST_F(JointGroupEffortControllerTest, StopJointsOnDeactivateTest)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // check joint commands are still the default ones
-  ASSERT_EQ(joint_1_cmd_.get_value(), 1.1);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 2.1);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);
+  bool status;
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 1.1);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 2.1);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 3.1);
 
   // stop the controller
   ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
   // check joint commands are now zero
-  ASSERT_EQ(joint_1_cmd_.get_value(), 0.0);
-  ASSERT_EQ(joint_2_cmd_.get_value(), 0.0);
-  ASSERT_EQ(joint_3_cmd_.get_value(), 0.0);
+  ASSERT_EQ(joint_1_cmd_.get_value(status), 0.0);
+  ASSERT_EQ(joint_2_cmd_.get_value(status), 0.0);
+  ASSERT_EQ(joint_3_cmd_.get_value(status), 0.0);
 }