fix(log-messages): reverting proposed solution for error message "vehicle_state_report msg is timeout... (isDataHeartbeatTimeout()..."

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

Author: Ahmed Ebrahim

system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp

@@ -135,7 +135,6 @@ class AutowareErrorMonitor : public rclcpp::Node
   rclcpp::Time autoware_state_stamp_;
   rclcpp::Time current_gate_mode_stamp_;
   rclcpp::Time control_mode_stamp_;
-  bool control_mode_activated_;
 
   // Algorithm
   boost::optional<DiagStamped> getLatestDiag(const std::string & diag_name) const;

system/system_error_monitor/src/system_error_monitor_core.cpp

@@ -209,8 +209,7 @@ AutowareErrorMonitor::AutowareErrorMonitor()
   diag_array_stamp_(0, 0, this->get_clock()->get_clock_type()),
   autoware_state_stamp_(0, 0, this->get_clock()->get_clock_type()),
   current_gate_mode_stamp_(0, 0, this->get_clock()->get_clock_type()),
-  control_mode_stamp_(0, 0, this->get_clock()->get_clock_type()),
-  control_mode_activated_(false)
+  control_mode_stamp_(0, 0, this->get_clock()->get_clock_type())
 {
   // Parameter
   get_parameter_or<int>("update_rate", params_.update_rate, 10);
@@ -375,10 +374,6 @@ void AutowareErrorMonitor::onAutowareState(
 void AutowareErrorMonitor::onControlMode(
   const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg)
 {
-  // used for indicating that onControlMode callback is called at least once.
-  if (!control_mode_activated_) {
-    control_mode_activated_ = true;
-  }
 
   control_mode_ = msg;
 
@@ -437,8 +432,7 @@ bool AutowareErrorMonitor::isDataHeartbeatTimeout()
     return true;
   }
 
-  if (
-    (isTimeout(control_mode_stamp_, params_.data_heartbeat_timeout)) && (control_mode_activated_)) {
+  if (isTimeout(control_mode_stamp_, params_.data_heartbeat_timeout)) {
     RCLCPP_ERROR_THROTTLE(
       get_logger(), *get_clock(), 5000, "vehicle_state_report msg is timeout...");
     return true;