From 8e4290d7081868532b99689f10dda44a5a102d15 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 18 Dec 2023 13:07:04 +0900 Subject: [PATCH] chore(motion_velocity_smoother): remove unnecessary info of non autonomous control (#5891) Signed-off-by: Takayuki Murooka --- .../src/motion_velocity_smoother_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 5e3924796f95f..90f7295c4cf6f 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -799,7 +799,8 @@ MotionVelocitySmootherNode::calcInitialMotion( // use ego velocity/acceleration in the planning for smooth transition from MANUAL to AUTONOMOUS. if (node_param_.plan_from_ego_speed_on_manual_mode) { // could be false for debug purpose const bool is_in_autonomous_control = operation_mode_.is_autoware_control_enabled && - operation_mode_.mode == OperationModeState::AUTONOMOUS; + (operation_mode_.mode == OperationModeState::AUTONOMOUS || + operation_mode_.mode == OperationModeState::STOP); if (!is_in_autonomous_control) { RCLCPP_INFO_THROTTLE( get_logger(), *clock_, 10000, "Not in autonomous control. Plan from ego velocity.");