diff --git a/control/operation_mode_transition_manager/src/node.cpp b/control/operation_mode_transition_manager/src/node.cpp
index ddd37b0206fad..155b01172f4bf 100644
--- a/control/operation_mode_transition_manager/src/node.cpp
+++ b/control/operation_mode_transition_manager/src/node.cpp
@@ -50,12 +50,23 @@ OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::Nod
   }
 
   // initialize state
-  transition_timeout_ = declare_parameter<double>("transition_timeout");
   current_mode_ = OperationMode::STOP;
   transition_ = nullptr;
   gate_operation_mode_.mode = OperationModeState::UNKNOWN;
   gate_operation_mode_.is_in_transition = false;
   control_mode_report_.mode = ControlModeReport::NO_COMMAND;
+  transition_timeout_ = declare_parameter<double>("transition_timeout");
+  {
+    // check `transition_timeout` value
+    const auto stable_duration = declare_parameter<double>("stable_check.duration");
+    const double TIMEOUT_MARGIN = 0.5;
+    if (transition_timeout_ < stable_duration + TIMEOUT_MARGIN) {
+      transition_timeout_ = stable_duration + TIMEOUT_MARGIN;
+      RCLCPP_WARN(
+        get_logger(), "`transition_timeout` must be somewhat larger than `stable_check.duration`");
+      RCLCPP_WARN_STREAM(get_logger(), "transition_timeout is set to " << transition_timeout_);
+    }
+  }
 
   // modes
   modes_[OperationMode::STOP] = std::make_unique<StopMode>();
diff --git a/control/operation_mode_transition_manager/src/state.cpp b/control/operation_mode_transition_manager/src/state.cpp
index 11c4fd070343f..7836e4facfc65 100644
--- a/control/operation_mode_transition_manager/src/state.cpp
+++ b/control/operation_mode_transition_manager/src/state.cpp
@@ -63,7 +63,7 @@ AutonomousMode::AutonomousMode(rclcpp::Node * node)
   // params for mode change completed
   {
     auto & p = stable_check_param_;
-    p.duration = node->declare_parameter<double>("stable_check.duration");
+    p.duration = node->get_parameter("stable_check.duration").as_double();
     p.dist_threshold = node->declare_parameter<double>("stable_check.dist_threshold");
     p.speed_upper_threshold = node->declare_parameter<double>("stable_check.speed_upper_threshold");
     p.speed_lower_threshold = node->declare_parameter<double>("stable_check.speed_lower_threshold");