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chore(behavior_path_planner): use RCLCPP_DEBUG for some frequent RCLCPP_WARN #4757

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merged 1 commit into from
Aug 25, 2023
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chore(behavior_path_planner): use RCLCPP_DEBUG for some frequent RCLCPP_WARN #4757

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -461,7 +461,7 @@ void AvoidanceModule::fillEgoStatus(
if (isOutputPathLocked()) {
data.safe_new_sl.clear();
data.candidate_path = helper_.getPreviousSplineShiftPath();
RCLCPP_WARN_THROTTLE(
RCLCPP_DEBUG_THROTTLE(
getLogger(), *clock_, 500, "this module is locked now. keep current path.");
return;
}
Expand Down Expand Up @@ -2455,7 +2455,7 @@ bool AvoidanceModule::isValidShiftLine(
constexpr double THRESHOLD = 0.1;
const auto offset = std::abs(new_shift_length - helper_.getEgoShift());
if (offset > THRESHOLD) {
RCLCPP_WARN_THROTTLE(
RCLCPP_DEBUG_THROTTLE(
getLogger(), *clock_, 1000, "new shift line is invalid. [HUGE OFFSET (%.2f)]", offset);
return false;
}
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -321,7 +321,7 @@ std::pair<std::vector<double>, std::vector<double>> PathShifter::calcBaseLengths

if (lateral_a_max < lateral_acc_limit_) {
// no need to consider acceleration limit
RCLCPP_WARN_THROTTLE(
RCLCPP_DEBUG_THROTTLE(
logger_, clock_, 3000, "No need to consider lateral acc limit. max: %f, limit: %f",
lateral_a_max, lateral_acc_limit_);
return getBaseLengthsWithoutAccelLimit(S, shift_length, v0, a, T, offset_back);
Expand Down