chore(lane_change): don't exit for danger param (autowarefoundation#4092

) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
kenji-miyake · Jun 27, 2023 · 0443a08 · 0443a08
1 parent 0e733cd
commit 0443a08
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -853,10 +853,9 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam()
   }
 
   if (p.cancel.delta_time < 1.0) {
-    RCLCPP_FATAL_STREAM(
-      get_logger(), "cancel.delta_time: " << p.cancel.delta_time << ", is too short.\n"
-                                          << "Terminating the program...");
-    exit(EXIT_FAILURE);
+    RCLCPP_WARN_STREAM(
+      get_logger(), "cancel.delta_time: " << p.cancel.delta_time
+                                          << ", is too short. This could cause a danger behavior.");
   }
 
   return p;