update external signage logic

Signed-off-by: tkhmy <[email protected]>

src/signage/src/signage/route_handler.py

@@ -143,8 +143,6 @@ def announce_engage_when_starting(self):
                     self._parameter.accept_start,
                 ):
                     self._announce_interface.send_announce("restart_engage")
-                    self._service_interface.trigger_external_signage(True)
-                    self._trigger_external_signage = True
                     self._engage_trigger_time = self._node.get_clock().now()
 
                 if self._autoware.information.motion_state == MotionState.STARTING:
@@ -277,10 +275,14 @@ def route_checker_callback(self):
                 # Check whether the vehicle is move in autonomous
                 self._is_driving = True
                 self._is_stopping = False
-                if not self._announce_engage and self._parameter.signage_stand_alone:
-                    self._announce_interface.send_announce("engage")
+                if (
+                    not self._trigger_external_signage
+                    and self._autoware.information.autoware_control
+                ):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
+                if not self._announce_engage and self._parameter.signage_stand_alone:
+                    self._announce_interface.send_announce("engage")
                     self._announce_engage = True
             elif self._autoware.information.route_state == RouteState.ARRIVED:
                 # Check whether the vehicle arrive to goal