do not announce emergency when stop mode! (#81)

* do not announce emergency when stop mode! Signed-off-by: tkhmy <[email protected]> * fix Signed-off-by: tkhmy <[email protected]> * fix Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]>
tier4 · Oct 23, 2023 · 3eadd4b · 3eadd4b
1 parent f1763b4
commit 3eadd4b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -73,6 +73,8 @@ def __init__(
     def emergency_checker_callback(self):
         if self._parameter.ignore_emergency:
             in_emergency = False
+        if self._autoware.information.operation_mode == OperationModeState.STOP:
+            in_emergency = False
         else:
             in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP