From a1dfc11fbc3d9e0b47d383de56103f33ddd18a87 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 13 Jan 2023 01:00:40 +0900 Subject: [PATCH] feat(behavior_path_planner): error messsage when no pull over/out planners (#2644) feat(behavior_path_planner): error messsage when no pull over/out planner Signed-off-by: kosuke55 Signed-off-by: kosuke55 --- .../src/scene_module/pull_out/pull_out_module.cpp | 2 +- .../src/scene_module/pull_over/pull_over_module.cpp | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index 499f0526f0b9a..eb16159f0ed4b 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -55,7 +55,7 @@ PullOutModule::PullOutModule( std::make_shared(node, parameters, getGeometricPullOutParameters())); } if (pull_out_planners_.empty()) { - RCLCPP_DEBUG(getLogger(), "Not found enabled planner"); + RCLCPP_ERROR(getLogger(), "Not found enabled planner"); } } diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 7b2540946a1a3..8f4ffb9ada331 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -77,6 +77,9 @@ PullOverModule::PullOverModule( node, parameters, getGeometricPullOverParameters(), lane_departure_checker, occupancy_grid_map_, is_forward)); } + if (pull_over_planners_.empty()) { + RCLCPP_ERROR(getLogger(), "Not found enabled planner"); + } // set selected goal searcher // currently there is only one goal_searcher_type