diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index 8de5be9d71503..c3b1731de84ec 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -343,6 +343,7 @@ double SimplePlanningSimulator::calculate_ego_pitch() const
 void SimplePlanningSimulator::on_timer()
 {
   if (!is_initialized_) {
+    publish_control_mode_report();
     RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting initialization...");
     return;
   }