fix: if isArrivedAtGoal

TetsuKawa · Feb 1, 2024 · a144472 · a144472
1 parent a19ccee
commit a144472
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -497,9 +497,11 @@ void EmergencyHandler::updateMrmState()
           return;
         }
       }
-      if (isStopped()) {
-        transitionTo(MrmState::MRM_SUCCEEDED);
-        return;
+      else {
+        if (isStopped()) {
+          transitionTo(MrmState::MRM_SUCCEEDED);
+          return;
+        }
       }
     } else if (mrm_state_.state == MrmState::MRM_SUCCEEDED) {
       // Do nothing(only checking common recovery events)