fix: add check for external_emergency_stop_heartbeat_received_time to…

… isDataReady Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>
autowarefoundation · Nov 8, 2022 · 8d9d08b · 8d9d08b
1 parent da9e5f0
commit 8d9d08b
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -223,6 +223,13 @@ bool VehicleCmdGate::isDataReady()
     }
   }
 
+  if (use_external_emergency_stop_) {
+    if (!external_emergency_stop_heartbeat_received_time_) {
+      RCLCPP_WARN(get_logger(), "external_emergency_stop_heartbeat_received_time_ is false");
+      return false;
+    }
+  }
+
   return true;
 }