Skip to content

Commit 7b40ad5

Browse files
remove prints
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
1 parent 1ba9c67 commit 7b40ad5

File tree

1 file changed

+0
-10
lines changed

1 file changed

+0
-10
lines changed

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

-10
Original file line numberDiff line numberDiff line change
@@ -366,9 +366,6 @@ bool StartPlannerModule::isPreventingRearVehicleFromCrossing() const
366366
? std::abs(left_dist_to_lane_border)
367367
: std::abs(right_dist_to_lane_border);
368368

369-
std::cerr << "smallest_lateral_offset " << smallest_lateral_offset << "\n";
370-
std::cerr << "remaining gap " << gap_between_ego_and_lane_border << "\n";
371-
372369
// Get the lanelets that will be queried for target objects
373370
const auto relevant_lanelets = std::invoke([&]() -> std::optional<lanelet::ConstLanelets> {
374371
lanelet::Lanelet closest_lanelet;
@@ -386,7 +383,6 @@ bool StartPlannerModule::isPreventingRearVehicleFromCrossing() const
386383
if (!relevant_lanelets) return false;
387384

388385
// filtering objects with velocity, position and class
389-
std::cerr << "Filter objects \n";
390386
const auto filtered_objects = utils::path_safety_checker::filterObjects(
391387
dynamic_object, route_handler, relevant_lanelets.value(), current_pose.position,
392388
objects_filtering_params_);
@@ -415,12 +411,6 @@ bool StartPlannerModule::isPreventingRearVehicleFromCrossing() const
415411
return closest_object_width;
416412
});
417413
if (!closest_object_width) return false;
418-
419-
std::cerr << "Dims \n";
420-
std::cerr << "target_object_itr->shape.dimensions.y " << closest_object_width.value() << "\n";
421-
std::cerr << "gap_between_ego_and_lane_border " << gap_between_ego_and_lane_border << "\n";
422-
std::cerr << "parameters_->extra_width_margin_for_rear_obstacle "
423-
<< parameters_->extra_width_margin_for_rear_obstacle << "\n";
424414
// Decide if the closest object does not fit in the gap left by the ego vehicle.
425415
return closest_object_width.value() + parameters_->extra_width_margin_for_rear_obstacle >
426416
gap_between_ego_and_lane_border;

0 commit comments

Comments
 (0)