diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index e8902c9dbf5b3..8f083990cd4ea 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -711,6 +711,7 @@ void VehicleCmdGate::onGateMode()
   if (!msg) return;
 
   const auto prev_gate_mode = current_gate_mode_;
+  current_gate_mode_ = *msg;
 
   if (current_gate_mode_.data != prev_gate_mode.data) {
     RCLCPP_INFO(