diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
index a68fece7573..815694d83c6 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
@@ -85,6 +85,11 @@ class Polygon
    * @return Action type for current polygon
    */
   ActionType getActionType() const;
+  /**
+   * @brief Obtains polygon enabled state
+   * @return Whether polygon is enabled
+   */
+  bool getEnabled() const;
   /**
    * @brief Obtains polygon minimum points to enter inside polygon causing the action
    * @return Minimum number of data readings within a zone to trigger the action
@@ -191,6 +196,13 @@ class Polygon
    */
   void polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg);
 
+  /**
+   * @brief Callback executed when a parameter change is detected
+   * @param event ParameterEvent message
+   */
+  rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
+    std::vector<rclcpp::Parameter> parameters);
+
   /**
    * @brief Checks if point is inside polygon
    * @param point Given point to check
@@ -204,6 +216,8 @@ class Polygon
   nav2_util::LifecycleNode::WeakPtr node_;
   /// @brief Collision monitor node logger stored for further usage
   rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
+  /// @brief Dynamic parameters handler
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
 
   // Basic parameters
   /// @brief Name of polygon
@@ -222,6 +236,8 @@ class Polygon
   double time_before_collision_;
   /// @brief Time step for robot movement simulation
   double simulation_time_step_;
+  /// @brief Whether polygon is enabled
+  bool enabled_;
   /// @brief Polygon subscription
   rclcpp::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_sub_;
   /// @brief Footprint subscriber
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
index 8bc750cc717..30d58d53bc1 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp
@@ -74,7 +74,19 @@ class Source
     const rclcpp::Time & curr_time,
     std::vector<Point> & data) const = 0;
 
+  /**
+   * @brief Obtains source enabled state
+   * @return Whether source is enabled
+   */
+  bool getEnabled() const;
+
 protected:
+  /**
+   * @brief Source configuration routine.
+   * @return True in case of everything is configured correctly, or false otherwise
+   */
+  bool configure();
+
   /**
    * @brief Supporting routine obtaining ROS-parameters common for all data sources
    * @param source_topic Output name of source subscription topic
@@ -91,12 +103,21 @@ class Source
     const rclcpp::Time & source_time,
     const rclcpp::Time & curr_time) const;
 
+  /**
+   * @brief Callback executed when a parameter change is detected
+   * @param event ParameterEvent message
+   */
+  rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(
+    std::vector<rclcpp::Parameter> parameters);
+
   // ----- Variables -----
 
   /// @brief Collision Monitor node
   nav2_util::LifecycleNode::WeakPtr node_;
   /// @brief Collision monitor node logger stored for further usage
   rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
+  /// @brief Dynamic parameters handler
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
 
   // Basic parameters
   /// @brief Name of data source
@@ -116,6 +137,8 @@ class Source
   /// @brief Whether to correct source data towards to base frame movement,
   /// considering the difference between current time and latest source time
   bool base_shift_correction_;
+  /// @brief Whether source is enabled
+  bool enabled_;
 };  // class Source
 
 }  // namespace nav2_collision_monitor
diff --git a/nav2_collision_monitor/params/collision_detector_params.yaml b/nav2_collision_monitor/params/collision_detector_params.yaml
index 218ce452397..68b4cd7b507 100644
--- a/nav2_collision_monitor/params/collision_detector_params.yaml
+++ b/nav2_collision_monitor/params/collision_detector_params.yaml
@@ -14,12 +14,15 @@ collision_detector:
       min_points: 4
       visualize: True
       polygon_pub_topic: "polygon_front"
+      enabled: True
     observation_sources: ["scan"]
     scan:
       type: "scan"
       topic: "scan"
+      enabled: True
     pointcloud:
       type: "pointcloud"
       topic: "/intel_realsense_r200_depth/points"
       min_height: 0.1
       max_height: 0.5
+      enabled: True
diff --git a/nav2_collision_monitor/params/collision_monitor_params.yaml b/nav2_collision_monitor/params/collision_monitor_params.yaml
index 239960e5934..3e506ed1d7f 100644
--- a/nav2_collision_monitor/params/collision_monitor_params.yaml
+++ b/nav2_collision_monitor/params/collision_monitor_params.yaml
@@ -22,6 +22,7 @@ collision_monitor:
       min_points: 4
       visualize: True
       polygon_pub_topic: "polygon_stop"
+      enabled: True
     PolygonSlow:
       type: "polygon"
       points: [0.4, 0.4, 0.4, -0.4, -0.4, -0.4, -0.4, 0.4]
@@ -30,6 +31,7 @@ collision_monitor:
       slowdown_ratio: 0.3
       visualize: True
       polygon_pub_topic: "polygon_slowdown"
+      enabled: True
     PolygonLimit:
       type: "polygon"
       points: [0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5]
@@ -39,6 +41,7 @@ collision_monitor:
       angular_limit: 0.5
       visualize: True
       polygon_pub_topic: "polygon_limit"
+      enabled: True
     FootprintApproach:
       type: "polygon"
       action_type: "approach"
@@ -47,12 +50,15 @@ collision_monitor:
       simulation_time_step: 0.1
       min_points: 6
       visualize: False
+      enabled: True
     observation_sources: ["scan"]
     scan:
       type: "scan"
       topic: "scan"
+      enabled: True
     pointcloud:
       type: "pointcloud"
       topic: "/intel_realsense_r200_depth/points"
       min_height: 0.1
       max_height: 0.5
+      enabled: True
diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
index e12d9795db3..f307bbd6398 100644
--- a/nav2_collision_monitor/src/collision_detector_node.cpp
+++ b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -304,13 +304,18 @@ void CollisionDetector::process()
 
   // Fill collision_points array from different data sources
   for (std::shared_ptr<Source> source : sources_) {
-    source->getData(curr_time, collision_points);
+    if (source->getEnabled()) {
+      source->getData(curr_time, collision_points);
+    }
   }
 
   std::unique_ptr<nav2_msgs::msg::CollisionDetectorState> state_msg =
     std::make_unique<nav2_msgs::msg::CollisionDetectorState>();
 
   for (std::shared_ptr<Polygon> polygon : polygons_) {
+    if (!polygon->getEnabled()) {
+      continue;
+    }
     state_msg->polygons.push_back(polygon->getName());
     state_msg->detections.push_back(
       polygon->getPointsInside(
@@ -326,7 +331,9 @@ void CollisionDetector::process()
 void CollisionDetector::publishPolygons() const
 {
   for (std::shared_ptr<Polygon> polygon : polygons_) {
-    polygon->publish();
+    if (polygon->getEnabled()) {
+      polygon->publish();
+    }
   }
 }
 
diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp
index 6b678c9c768..17f4930c4d6 100644
--- a/nav2_collision_monitor/src/collision_monitor_node.cpp
+++ b/nav2_collision_monitor/src/collision_monitor_node.cpp
@@ -373,7 +373,9 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in)
 
   // Fill collision_points array from different data sources
   for (std::shared_ptr<Source> source : sources_) {
-    source->getData(curr_time, collision_points);
+    if (source->getEnabled()) {
+      source->getData(curr_time, collision_points);
+    }
   }
 
   // By default - there is no action
@@ -382,6 +384,9 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in)
   std::shared_ptr<Polygon> action_polygon;
 
   for (std::shared_ptr<Polygon> polygon : polygons_) {
+    if (!polygon->getEnabled()) {
+      continue;
+    }
     if (robot_action.action_type == STOP) {
       // If robot already should stop, do nothing
       break;
@@ -545,7 +550,9 @@ void CollisionMonitor::notifyActionState(
 void CollisionMonitor::publishPolygons() const
 {
   for (std::shared_ptr<Polygon> polygon : polygons_) {
-    polygon->publish();
+    if (polygon->getEnabled()) {
+      polygon->publish();
+    }
   }
 }
 
diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp
index 4582703b2f4..f23f5e0bfea 100644
--- a/nav2_collision_monitor/src/pointcloud.cpp
+++ b/nav2_collision_monitor/src/pointcloud.cpp
@@ -49,6 +49,7 @@ PointCloud::~PointCloud()
 
 void PointCloud::configure()
 {
+  Source::configure();
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
index 8b7a3c7c002..248bdcec6de 100644
--- a/nav2_collision_monitor/src/polygon.cpp
+++ b/nav2_collision_monitor/src/polygon.cpp
@@ -48,6 +48,7 @@ Polygon::~Polygon()
   polygon_sub_.reset();
   polygon_pub_.reset();
   poly_.clear();
+  dyn_params_handler_.reset();
 }
 
 bool Polygon::configure()
@@ -102,6 +103,10 @@ bool Polygon::configure()
       polygon_pub_topic, polygon_qos);
   }
 
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&Polygon::dynamicParametersCallback, this, std::placeholders::_1));
+
   return true;
 }
 
@@ -129,6 +134,11 @@ ActionType Polygon::getActionType() const
   return action_type_;
 }
 
+bool Polygon::getEnabled() const
+{
+  return enabled_;
+}
+
 int Polygon::getMinPoints() const
 {
   return min_points_;
@@ -302,6 +312,10 @@ bool Polygon::getCommonParameters(std::string & polygon_pub_topic)
       return false;
     }
 
+    nav2_util::declare_parameter_if_not_declared(
+      node, polygon_name_ + ".enabled", rclcpp::ParameterValue(true));
+    enabled_ = node->get_parameter(polygon_name_ + ".enabled").as_bool();
+
     nav2_util::declare_parameter_if_not_declared(
       node, polygon_name_ + ".min_points", rclcpp::ParameterValue(4));
     min_points_ = node->get_parameter(polygon_name_ + ".min_points").as_int();
@@ -487,6 +501,26 @@ void Polygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr m
   polygon_ = *msg;
 }
 
+rcl_interfaces::msg::SetParametersResult
+Polygon::dynamicParametersCallback(
+  std::vector<rclcpp::Parameter> parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+
+  for (auto parameter : parameters) {
+    const auto & param_type = parameter.get_type();
+    const auto & param_name = parameter.get_name();
+
+    if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
+      if (param_name == polygon_name_ + "." + "enabled") {
+        enabled_ = parameter.as_bool();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
 void Polygon::polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg)
 {
   RCLCPP_INFO(
diff --git a/nav2_collision_monitor/src/range.cpp b/nav2_collision_monitor/src/range.cpp
index cd070d70be6..56c0a4750fc 100644
--- a/nav2_collision_monitor/src/range.cpp
+++ b/nav2_collision_monitor/src/range.cpp
@@ -49,6 +49,7 @@ Range::~Range()
 
 void Range::configure()
 {
+  Source::configure();
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
diff --git a/nav2_collision_monitor/src/scan.cpp b/nav2_collision_monitor/src/scan.cpp
index 731ee8baa8b..603e2f04e69 100644
--- a/nav2_collision_monitor/src/scan.cpp
+++ b/nav2_collision_monitor/src/scan.cpp
@@ -47,6 +47,7 @@ Scan::~Scan()
 
 void Scan::configure()
 {
+  Source::configure();
   auto node = node_.lock();
   if (!node) {
     throw std::runtime_error{"Failed to lock node"};
diff --git a/nav2_collision_monitor/src/source.cpp b/nav2_collision_monitor/src/source.cpp
index df539495f25..8dcf0c85e2d 100644
--- a/nav2_collision_monitor/src/source.cpp
+++ b/nav2_collision_monitor/src/source.cpp
@@ -43,6 +43,17 @@ Source::~Source()
 {
 }
 
+bool Source::configure()
+{
+  auto node = node_.lock();
+
+  // Add callback for dynamic parameters
+  dyn_params_handler_ = node->add_on_set_parameters_callback(
+    std::bind(&Source::dynamicParametersCallback, this, std::placeholders::_1));
+
+  return true;
+}
+
 void Source::getCommonParameters(std::string & source_topic)
 {
   auto node = node_.lock();
@@ -54,6 +65,10 @@ void Source::getCommonParameters(std::string & source_topic)
     node, source_name_ + ".topic",
     rclcpp::ParameterValue("scan"));  // Set deafult topic for laser scanner
   source_topic = node->get_parameter(source_name_ + ".topic").as_string();
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, source_name_ + ".enabled", rclcpp::ParameterValue(true));
+  enabled_ = node->get_parameter(source_name_ + ".enabled").as_bool();
 }
 
 bool Source::sourceValid(
@@ -75,4 +90,29 @@ bool Source::sourceValid(
   return true;
 }
 
+bool Source::getEnabled() const
+{
+  return enabled_;
+}
+
+rcl_interfaces::msg::SetParametersResult
+Source::dynamicParametersCallback(
+  std::vector<rclcpp::Parameter> parameters)
+{
+  rcl_interfaces::msg::SetParametersResult result;
+
+  for (auto parameter : parameters) {
+    const auto & param_type = parameter.get_type();
+    const auto & param_name = parameter.get_name();
+
+    if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
+      if (param_name == source_name_ + "." + "enabled") {
+        enabled_ = parameter.as_bool();
+      }
+    }
+  }
+  result.successful = true;
+  return result;
+}
+
 }  // namespace nav2_collision_monitor
diff --git a/nav2_collision_monitor/test/collision_monitor_node_test.cpp b/nav2_collision_monitor/test/collision_monitor_node_test.cpp
index e11f3b1b3d9..77f1578a674 100644
--- a/nav2_collision_monitor/test/collision_monitor_node_test.cpp
+++ b/nav2_collision_monitor/test/collision_monitor_node_test.cpp
@@ -160,6 +160,9 @@ class Tester : public ::testing::Test
     const std::chrono::nanoseconds & timeout,
     const rclcpp::Time & stamp);
   bool waitCmdVel(const std::chrono::nanoseconds & timeout);
+  bool waitFuture(
+    rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedFuture,
+    const std::chrono::nanoseconds & timeout);
   bool waitActionState(const std::chrono::nanoseconds & timeout);
 
 protected:
@@ -186,6 +189,9 @@ class Tester : public ::testing::Test
   // CollisionMonitor Action state
   rclcpp::Subscription<nav2_msgs::msg::CollisionMonitorState>::SharedPtr action_state_sub_;
   nav2_msgs::msg::CollisionMonitorState::SharedPtr action_state_;
+
+  // Service client for setting CollisionMonitor parameters
+  rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr parameters_client_;
 };  // Tester
 
 Tester::Tester()
@@ -211,6 +217,10 @@ Tester::Tester()
   action_state_sub_ = cm_->create_subscription<nav2_msgs::msg::CollisionMonitorState>(
     STATE_TOPIC, rclcpp::SystemDefaultsQoS(),
     std::bind(&Tester::actionStateCallback, this, std::placeholders::_1));
+  parameters_client_ =
+    cm_->create_client<rcl_interfaces::srv::SetParameters>(
+    std::string(
+      cm_->get_name()) + "/set_parameters");
 }
 
 Tester::~Tester()
@@ -308,6 +318,11 @@ void Tester::addPolygon(
       rclcpp::Parameter(polygon_name + ".type", "unknown"));
   }
 
+  cm_->declare_parameter(
+    polygon_name + ".enabled", rclcpp::ParameterValue(true));
+  cm_->set_parameter(
+    rclcpp::Parameter(polygon_name + ".enabled", true));
+
   cm_->declare_parameter(
     polygon_name + ".action_type", rclcpp::ParameterValue(at));
   cm_->set_parameter(
@@ -579,6 +594,22 @@ bool Tester::waitCmdVel(const std::chrono::nanoseconds & timeout)
   return false;
 }
 
+bool Tester::waitFuture(
+  rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedFuture result_future,
+  const std::chrono::nanoseconds & timeout)
+{
+  rclcpp::Time start_time = cm_->now();
+  while (rclcpp::ok() && cm_->now() - start_time <= rclcpp::Duration(timeout)) {
+    std::future_status status = result_future.wait_for(10ms);
+    if (status == std::future_status::ready) {
+      return true;
+    }
+    rclcpp::spin_some(cm_->get_node_base_interface());
+    std::this_thread::sleep_for(10ms);
+  }
+  return false;
+}
+
 bool Tester::waitActionState(const std::chrono::nanoseconds & timeout)
 {
   rclcpp::Time start_time = cm_->now();
@@ -961,6 +992,116 @@ TEST_F(Tester, testCeasePublishZeroVel)
   cm_->stop();
 }
 
+TEST_F(Tester, testPolygonNotEnabled)
+{
+  // Set Collision Monitor parameters.
+  // Create a STOP polygon
+  setCommonParameters();
+  addPolygon("Stop", POLYGON, 1.0, "stop");
+  // Create a Scan source
+  addSource(SCAN_NAME, SCAN);
+  setVectors({"Stop"}, {SCAN_NAME});
+
+  // Start Collision Monitor node
+  cm_->start();
+
+  // Check that robot stops when polygon is enabled
+  rclcpp::Time curr_time = cm_->now();
+  sendTransforms(curr_time);
+  publishScan(0.5, curr_time);
+  ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
+  publishCmdVel(0.5, 0.2, 0.1);
+  ASSERT_TRUE(waitCmdVel(500ms));
+  ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);
+  ASSERT_TRUE(waitActionState(500ms));
+  ASSERT_EQ(action_state_->action_type, STOP);
+  ASSERT_EQ(action_state_->polygon_name, "Stop");
+
+  // Disable polygon by calling service
+  auto set_parameters_msg = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
+  auto parameter_msg = std::make_shared<rcl_interfaces::msg::Parameter>();
+  parameter_msg->name = "Stop.enabled";
+  parameter_msg->value.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+  parameter_msg->value.bool_value = false;
+  set_parameters_msg->parameters.push_back(*parameter_msg);
+  auto result_future = parameters_client_->async_send_request(set_parameters_msg).future.share();
+  ASSERT_TRUE(waitFuture(result_future, 2s));
+
+  // Check that robot does not stop when polygon is disabled
+  curr_time = cm_->now();
+  sendTransforms(curr_time);
+  publishScan(0.5, curr_time);
+  ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
+  publishCmdVel(0.5, 0.2, 0.1);
+  ASSERT_TRUE(waitCmdVel(500ms));
+  ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON);
+  ASSERT_TRUE(waitActionState(500ms));
+  ASSERT_EQ(action_state_->action_type, DO_NOTHING);
+  ASSERT_EQ(action_state_->polygon_name, "");
+
+  // Stop Collision Monitor node
+  cm_->stop();
+}
+
+TEST_F(Tester, testSourceNotEnabled)
+{
+  // Set Collision Monitor parameters.
+  // Create a STOP polygon
+  setCommonParameters();
+  addPolygon("Stop", POLYGON, 1.0, "stop");
+  // Create a Scan source
+  addSource(SCAN_NAME, SCAN);
+  setVectors({"Stop"}, {SCAN_NAME});
+
+  // Start Collision Monitor node
+  cm_->start();
+
+  // Check that robot stops when source is enabled
+  rclcpp::Time curr_time = cm_->now();
+  sendTransforms(curr_time);
+  publishScan(0.5, curr_time);
+  ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
+  publishCmdVel(0.5, 0.2, 0.1);
+  ASSERT_TRUE(waitCmdVel(500ms));
+  ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON);
+  ASSERT_TRUE(waitActionState(500ms));
+  ASSERT_EQ(action_state_->action_type, STOP);
+  ASSERT_EQ(action_state_->polygon_name, "Stop");
+
+  // Disable source by calling service
+  auto set_parameters_msg = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
+  auto parameter_msg = std::make_shared<rcl_interfaces::msg::Parameter>();
+  parameter_msg->name = std::string(SCAN_NAME) + ".enabled";
+  parameter_msg->value.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
+  parameter_msg->value.bool_value = false;
+  set_parameters_msg->parameters.push_back(*parameter_msg);
+  auto result_future = parameters_client_->async_send_request(set_parameters_msg).future.share();
+  ASSERT_TRUE(waitFuture(result_future, 2s));
+
+  // Check that robot does not stop when source is disabled
+  curr_time = cm_->now();
+  sendTransforms(curr_time);
+  publishScan(0.5, curr_time);
+  ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
+  publishCmdVel(0.5, 0.2, 0.1);
+  ASSERT_TRUE(waitCmdVel(500ms));
+  ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON);
+  ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON);
+  ASSERT_TRUE(waitActionState(500ms));
+  ASSERT_EQ(action_state_->action_type, DO_NOTHING);
+  ASSERT_EQ(action_state_->polygon_name, "");
+
+  // Stop Collision Monitor node
+  cm_->stop();
+}
+
 TEST_F(Tester, testProcessNonActive)
 {
   rclcpp::Time curr_time = cm_->now();