--- picknik_reset_fault_controller/src/picknik_reset_fault_controller.cpp
+++ picknik_reset_fault_controller/src/picknik_reset_fault_controller.cpp
@@ -64,12 +64,8 @@
 {
   if (realtime_publisher_)
   {
-    auto state_op = state_interfaces_[StateInterfaces::IN_FAULT].get_optional();
-    if (state_op.has_value())
-    {
-      state_.data = static_cast<bool>(state_op.value());
-    }
-    realtime_publisher_->try_publish(state_);
+    state_.data = static_cast<bool>(state_interfaces_[StateInterfaces::IN_FAULT].get_value());
+    realtime_publisher_->tryPublish(state_);
   }
 
   return controller_interface::return_type::OK;
@@ -124,23 +120,15 @@
 
   RCLCPP_INFO(get_node()->get_logger(), "Trying to reset faults on hardware controller.");
 
-  while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional().value_or(
-           ASYNC_WAITING) == ASYNC_WAITING)
+  while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value() ==
+         ASYNC_WAITING)
   {
     // Asynchronous wait until the hardware interface has set the io value
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
   }
-  auto async_result_op =
-    command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional();
-  if (!async_result_op.has_value())
-  {
-    RCLCPP_ERROR(
-      get_node()->get_logger(),
-      "Failed to get result of fault reset command from hardware controller.");
-    resp->success = false;
-    return resp->success;
-  }
-  resp->success = static_cast<bool>(async_result_op.value());
+  double async_result =
+    command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value();
+  resp->success = static_cast<bool>(async_result);
 
   RCLCPP_INFO(
     get_node()->get_logger(), "Resetting fault on hardware controller '%s'!",