add debug log when the signal data is outdated

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
tier4 · Aug 21, 2023 · 9c24f8f · 9c24f8f
1 parent 6448663
commit 9c24f8f
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -370,6 +370,9 @@ bool TrafficLightModule::findValidTrafficSignal(TrafficSignal & valid_traffic_si
   if (is_traffic_signal_timeout) {
     RCLCPP_WARN_THROTTLE(
       logger_, *clock_, 5000 /* ms */, "the received traffic signal data is outdated");
+    RCLCPP_WARN_STREAM_THROTTLE(
+      logger_, *clock_, 5000 /* ms */,
+      "time diff: " << (clock_->now() - traffic_signal_stamped->stamp).seconds());
     return false;
   }