do not announce emergency when stop mode!

Signed-off-by: tkhmy <[email protected]>
tier4 · Oct 23, 2023 · 2756679 · 2756679
1 parent f1763b4
commit 2756679
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -74,7 +74,8 @@ def emergency_checker_callback(self):
         if self._parameter.ignore_emergency:
             in_emergency = False
         else:
-            in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
+            if self._autoware.information.operation_mode != OperationModeState.STOP:
+                in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
 
         self._in_slowing_state = (
             self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP