Vehicle_cmd_gate uses current steering while stopping

[brkay54]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

In the vehicle_cmd_gate package, if the vehicle disengages, it creates a stop command. However, while creating a stop command, it inserts current steering as lateral command and it causes unwanted behavior like in the video:

cap-.2023-05-09-23-01-37.mp4

Expected behavior

Until the vehicle fully stops, it should send the lateral controller's output.

Actual behavior

After disengaging, the vehicle sends current steering so the vehicle moves outside of the road.

Steps to reproduce

1. Run psim
2. Change state to stop, while the vehicle is running autonomous mode on any corner lane

Versions

No response

Possible causes

No response

Additional context

No response

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.