refactor(pid_longitudinal_controller): set stopped state if ego is no…

…t in autonomous mode (autowarefoundation#3644) Signed-off-by: Berkay Karaman <[email protected]>
Interplai · May 15, 2023 · 48a42ed · 48a42ed
1 parent a3c94fd
commit 48a42ed
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -526,6 +526,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
     RCLCPP_INFO_SKIPFIRST_THROTTLE(node_->get_logger(), *node_->get_clock(), 5000, "%s", s);
   };
 
+  // if current operation mode is not autonomous mode, then change state to stopped
+  if (m_current_operation_mode.mode != OperationModeState::AUTONOMOUS) {
+    return changeState(ControlState::STOPPED);
+  }
+
   // transit state
   // in DRIVE state
   if (m_control_state == ControlState::DRIVE) {