diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 2f1eb0f..678489e 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -151,7 +151,5 @@ def run_step(self) -> None:
             self.sent_route = True
 
         # check if the current route is set
-        logger.info("About to publish engage")
-        if self.autoware_state.route_ready() and not self.autoware_state.sent_engage:
-            logger.info("publishing engage")
+        if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
             self.autoware_node.publish_engage(True)