refactor(bpp): remove verbose flag

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Apr 18, 2024 · e47ef27 · e47ef27
1 parent c5ae54a
commit e47ef27
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Showing 5 changed files with 6 additions and 17 deletions.
diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    verbose: false
     max_iteration_num: 100
     traffic_light_signal_timeout: 1.0
     planning_hz: 10.0

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -96,7 +96,7 @@ struct SceneModuleStatus
 class PlannerManager
 {
 public:
-  PlannerManager(rclcpp::Node & node, const size_t max_iteration_num, const bool verbose);
+  PlannerManager(rclcpp::Node & node, const size_t max_iteration_num);
 
   /**
    * @brief run all candidate and approved modules.
@@ -474,8 +474,6 @@ class PlannerManager
   mutable std::shared_ptr<SceneModuleVisitor> debug_msg_ptr_;
 
   size_t max_iteration_num_{100};
-
-  bool verbose_{false};
 };
 }  // namespace behavior_path_planner
 

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -133,7 +133,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     const std::lock_guard<std::mutex> lock(mutex_manager_);  // for planner_manager_
 
     const auto & p = planner_data_->parameters;
-    planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num, p.verbose);
+    planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num);
 
     for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
       // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
@@ -208,7 +208,6 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
 {
   BehaviorPathPlannerParameters p{};
 
-  p.verbose = declare_parameter<bool>("verbose");
   p.max_iteration_num = declare_parameter<int>("max_iteration_num");
   p.traffic_light_signal_timeout = declare_parameter<double>("traffic_light_signal_timeout");
 

diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -30,13 +30,11 @@
 
 namespace behavior_path_planner
 {
-PlannerManager::PlannerManager(
-  rclcpp::Node & node, const size_t max_iteration_num, const bool verbose)
+PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num)
 : plugin_loader_("behavior_path_planner", "behavior_path_planner::SceneModuleManagerInterface"),
   logger_(node.get_logger().get_child("planner_manager")),
   clock_(*node.get_clock()),
-  max_iteration_num_{max_iteration_num},
-  verbose_{verbose}
+  max_iteration_num_{max_iteration_num}
 {
   processing_time_.emplace("total_time", 0.0);
   debug_publisher_ptr_ = std::make_unique<DebugPublisher>(&node, "~/debug");
@@ -928,7 +926,7 @@ void PlannerManager::resetRootLanelet(const std::shared_ptr<PlannerData> & data)
 
   root_lanelet_ = root_lanelet;
 
-  RCLCPP_INFO_EXPRESSION(logger_, verbose_, "change ego's following lane. reset.");
+  RCLCPP_DEBUG(logger_, "change ego's following lane. reset.");
 }
 
 void PlannerManager::print() const
@@ -984,11 +982,7 @@ void PlannerManager::print() const
 
   state_publisher_ptr_->publish<DebugStringMsg>("internal_state", string_stream.str());
 
-  if (!verbose_) {
-    return;
-  }
-
-  RCLCPP_INFO_STREAM(logger_, string_stream.str());
+  RCLCPP_DEBUG_STREAM(logger_, string_stream.str());
 }
 
 void PlannerManager::publishProcessingTime() const

diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
@@ -30,7 +30,6 @@ struct ModuleConfigParameters
 
 struct BehaviorPathPlannerParameters
 {
-  bool verbose;
   size_t max_iteration_num{100};
   double traffic_light_signal_timeout{1.0};