fix

Signed-off-by: tkhmy <[email protected]>
tier4 · Oct 23, 2023 · fdfb9cf · fdfb9cf
1 parent 2756679
commit fdfb9cf
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -73,9 +73,10 @@ 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:
-            if self._autoware.information.operation_mode != OperationModeState.STOP:
-                in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
+            in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
 
         self._in_slowing_state = (
             self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP