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fix(obstacle_avoidance_planner, path_smoother): change logger level of debug print
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
1 parent bd4b5ca commit b3ee348

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2 files changed

+4
-4
lines changed

2 files changed

+4
-4
lines changed

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

+2-2
Original file line numberDiff line numberDiff line change
@@ -178,7 +178,7 @@ std::optional<size_t> updateFrontPointForFix(
178178
const double lon_offset_to_prev_front =
179179
motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
180180
if (0 < lon_offset_to_prev_front) {
181-
RCLCPP_WARN(
181+
RCLCPP_DEBUG(
182182
rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
183183
"Fixed point will not be inserted due to the error during calculation.");
184184
return std::nullopt;
@@ -189,7 +189,7 @@ std::optional<size_t> updateFrontPointForFix(
189189
// check if deviation is not too large
190190
constexpr double max_lat_error = 3.0;
191191
if (max_lat_error < dist) {
192-
RCLCPP_WARN(
192+
RCLCPP_DEBUG(
193193
rclcpp::get_logger("obstacle_avoidance_planner.trajectory_utils"),
194194
"New Fixed point is too far from points %f [m]", dist);
195195
}

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

+2-2
Original file line numberDiff line numberDiff line change
@@ -136,7 +136,7 @@ std::optional<size_t> updateFrontPointForFix(
136136
const double lon_offset_to_prev_front =
137137
motion_utils::calcSignedArcLength(points, 0, front_fix_point.pose.position);
138138
if (0 < lon_offset_to_prev_front) {
139-
RCLCPP_WARN(
139+
RCLCPP_DEBUG(
140140
rclcpp::get_logger("path_smoother.trajectory_utils"),
141141
"Fixed point will not be inserted due to the error during calculation.");
142142
return std::nullopt;
@@ -147,7 +147,7 @@ std::optional<size_t> updateFrontPointForFix(
147147
// check if deviation is not too large
148148
constexpr double max_lat_error = 3.0;
149149
if (max_lat_error < dist) {
150-
RCLCPP_WARN(
150+
RCLCPP_DEBUG(
151151
rclcpp::get_logger("path_smoother.trajectory_utils"),
152152
"New Fixed point is too far from points %f [m]", dist);
153153
}

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