add debug

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Dec 18, 2023 · 6b1e0a7 · 6b1e0a7
1 parent ce828f1
commit 6b1e0a7
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp
@@ -20,6 +20,8 @@
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 
+#include <rclcpp/logging.hpp>
+
 #include <boost/geometry/algorithms/centroid.hpp>
 #include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>
 
@@ -103,6 +105,12 @@ bool AvoidanceByLaneChange::specialRequiredCheck() const
 
   const auto maximum_avoid_distance = avoidance_helper_->getMaxAvoidanceDistance(shift_length);
 
+  RCLCPP_DEBUG(
+    logger_,
+    "nearest_object.longitudinal %.3f, minimum_lane_change_length %.3f, maximum_avoid_distance "
+    "%.3f",
+    nearest_object.longitudinal, minimum_lane_change_length, maximum_avoid_distance);
+
   return nearest_object.longitudinal > std::max(minimum_lane_change_length, maximum_avoid_distance);
 }