add warning log

tier4 · May 9, 2024 · bacba67 · bacba67
1 parent f0041d3
commit bacba67
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/obstacle_avoidance_planner/src/utils.cpp b/planning/obstacle_avoidance_planner/src/utils.cpp
@@ -344,6 +344,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
 
   // spline interpolation
   std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
+  auto clock = rclcpp::Clock{RCL_ROS_TIME};
   try {
     const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);
     const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);
@@ -365,6 +366,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
     }
 
   } catch (const std::invalid_argument & e) {
+    RCLCPP_WARN_THROTTLE(rclcpp::get_logger("util"), clock, 1000, "%s", e.what());
     return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
   }
   return interpolated_points;