chore(motion_velocity_smoother): remove unnecessary info of non auton…

…omous control (#5891) Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 18, 2023 · 0b58725 · 0b58725
1 parent 2175b57
commit 0b58725
Showing 1 changed file with 2 additions and 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
@@ -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.");