Merge branch 'main' into fix/shift-ratio

Author: HansRobo

.github/workflows/build-and-test-differential.yaml

@@ -2,10 +2,21 @@ name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - labeled
 
 jobs:
+  prevent-no-label-execution:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+    with:
+      label: tag:run-build-and-test-differential
+
   build-and-test-differential:
-    runs-on: ubuntu-latest
+    needs: prevent-no-label-execution
+    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -65,7 +76,7 @@ jobs:
         run: df -h
 
   clang-tidy-differential:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
     needs: build-and-test-differential
     steps:

planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/trajectory_utils.hpp

@@ -178,7 +178,7 @@ std::optional<size_t> updateFrontPointForFix(
   const double lon_offset_to_prev_front =
     motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
   if (0 < lon_offset_to_prev_front) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
       "Fixed point will not be inserted due to the error during calculation.");
     return std::nullopt;
@@ -189,7 +189,7 @@ std::optional<size_t> updateFrontPointForFix(
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
   if (max_lat_error < dist) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
       "New Fixed point is too far from points %f [m]", dist);
   }

planning/path_smoother/include/path_smoother/utils/trajectory_utils.hpp

@@ -136,7 +136,7 @@ std::optional<size_t> updateFrontPointForFix(
   const double lon_offset_to_prev_front =
     motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
   if (0 < lon_offset_to_prev_front) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("path_smoother.trajectory_utils"),
       "Fixed point will not be inserted due to the error during calculation.");
     return std::nullopt;
@@ -147,7 +147,7 @@ std::optional<size_t> updateFrontPointForFix(
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
   if (max_lat_error < dist) {
-    RCLCPP_WARN(
+    RCLCPP_DEBUG(
       rclcpp::get_logger("path_smoother.trajectory_utils"),
       "New Fixed point is too far from points %f [m]", dist);
   }