diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py
index a32e3fb..1702b09 100644
--- a/rmp220_middleware/rmp220_middleware.py
+++ b/rmp220_middleware/rmp220_middleware.py
@@ -68,15 +68,19 @@ class StateMachineNode(Node):
         if msg.chassis_mode == 0:
             self.chassis_mode = State.DISABLED
             self.state = State.DISABLED
+            self.get_logger().info('Set chassis_mode to DISABLED')
         if msg.chassis_mode == 1:  # Assuming 1 represents enabled and 0 represents disabled
             self.chassis_mode = State.ENABLED
             self.state = State.ENABLED
+            self.get_logger().info('Set chassis_mode to ENABLED')
         if msg.chassis_mode == 2:
             self.chassis_mode = State.PASSIVE
             self.state = State.PASSIVE
+            self.get_logger().info('Set chassis_mode to PASSIVE')
         if msg.chassis_mode == 3:
             self.chassis_mode = State.STOPPED
             self.state = State.STOPPED
+            self.get_logger().info('Set chassis_mode to STOPPED')
         
     def get_chassis_mode(self):
         return self.chassis_mode