Adapted CIE version for Planning produce error and warning when I start engage(auto) mode

In which circumstance the issue happened

I place the car(2D Pose Estimate), and set goal(2D goal pose) and using command to start engaging mode.

ros2 service call /api/autoware/set/engage tier4_external_api_msgs/srv/Engage "{engage: true}"

This error happens either using CARET or just simply start Autoware

Error message

After the car starts to move, the error messages keep appearing continually.

[planning_validator_node-36] [ERROR 1762222694.693620684]
[planning.planning_validator]: Caution! Invalid Trajectory published. (publishTrajectory() at /home/aa35037123/autoware_cie_plan/src/universe/autoware.universe/planning/autoware_planning_validator/src/planning_validator.cpp:234)
[planning_validator_node-36] [WARN 1762222694.693915268] 
[planning.planning_validator]: planning trajectory is too far from ego in longitudinal direction!! (operator()() at /home/aa35037123/autoware_cie_plan/src/universe/autoware.universe/planning/autoware_planning_validator/src/planning_validator.cpp:564)

Computer setting

CPU: Intel(R) Core(TM) i7-8700K CPU @ 3.70GHz, 12 cores GPU: NVIDIA GeForce RTX 2080 (8GB VRAM) RAM: 64 GB (16 GB * 4) OS: Ubuntu 22.04.5 LTS / 6.8.0-60-generic / x86_64 Autoware: 2025.02 version CARET: v0.6.2