From 136a5ff4a867d78cd58717acdcb9374de360e75b Mon Sep 17 00:00:00 2001 From: ismetatabay Date: Fri, 2 Aug 2024 12:10:00 +0300 Subject: [PATCH] fix member variable type and error logs Signed-off-by: ismetatabay --- .../include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp | 2 +- .../autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp index 42eef9f046838..b5eda5f2e776e 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox_node.hpp @@ -95,7 +95,7 @@ class TrtYoloXNode : public rclcpp::Node bool is_roi_overlap_segment_; bool is_publish_color_mask_; float overlap_roi_score_threshold_; - int gpu_id_; + uint8_t gpu_id_; // TODO(badai-nguyen): change to function std::map remap_roi_to_semantic_ = { {"UNKNOWN", 3}, // other diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp index 572f17c92236a..bdd74e1826045 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -134,7 +134,8 @@ void TrtYoloXNode::onConnect() void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg) { if (!setCudaDeviceId(gpu_id_)) { - RCLCPP_ERROR(this->get_logger(), "GPU %d does not exist or is not suitable.", gpu_id_); + RCLCPP_ERROR_THROTTLE( + get_logger(), *get_clock(), 2000, "GPU %d does not exist or is not suitable.", gpu_id_); return; } @@ -230,7 +231,8 @@ bool TrtYoloXNode::setCudaDeviceId(const int gpu_id) { cudaError_t cuda_err = cudaSetDevice(gpu_id); if (cuda_err != cudaSuccess) { - RCLCPP_ERROR(this->get_logger(), "Failed to set gpu device with id: %d ", gpu_id); + RCLCPP_ERROR_THROTTLE( + get_logger(), *get_clock(), 2000, "Failed to set gpu device with id: %d ", gpu_id); return false; } else { return true;