Removed logging

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

Author: PanConChicharron

planning/autoware_path_optimizer/src/mpt_optimizer.cpp

@@ -529,17 +529,6 @@ std::pair<std::vector<TrajectoryPoint>, int> MPTOptimizer::optimizeTrajectory(
   const auto optimized_variables = calcOptimizedSteerAngles(ref_points, obj_mat, const_mat);
   if (!optimized_variables) {
     RCLCPP_WARN(logger_, "return std::nullopt since could not solve qp");
-    RCLCPP_INFO(logger_, "Inputs causing failure:");
-    RCLCPP_INFO_STREAM(logger_, "ref_points: ");
-
-    for (const auto & ref_point : ref_points) {
-      std::cout << "\t" << ref_point << "\n";
-    }
-
-    RCLCPP_INFO_STREAM(logger_, "mpt_mat: " << mpt_mat);
-    RCLCPP_INFO_STREAM(logger_, "val_mat: " << val_mat);
-    RCLCPP_INFO_STREAM(logger_, "obj_mat: " << obj_mat);
-    RCLCPP_INFO_STREAM(logger_, "const_mat: " << const_mat);
 
     return std::make_pair(get_prev_optimized_traj_points(), -1);
   }
@@ -1561,19 +1550,6 @@ std::optional<Eigen::VectorXd> MPTOptimizer::calcOptimizedSteerAngles(
     const int status_polish = osqp_result.polish_status;
     const int exit_flag = osqp_result.exit_flag;
 
-    RCLCPP_INFO(logger_, "optimization failed: result contains NaN values");
-    RCLCPP_INFO(logger_, "Problem details:");
-    RCLCPP_INFO_STREAM(logger_, "P_csc: " << P_csc);
-    RCLCPP_INFO_STREAM(logger_, "f: " << vectorToString(f));
-    RCLCPP_INFO_STREAM(logger_, "A_csc: " << A_csc);
-    RCLCPP_INFO_STREAM(logger_, "lower_bound: " << vectorToString(lower_bound));
-    RCLCPP_INFO_STREAM(logger_, "upper_bound: " << vectorToString(upper_bound));
-    RCLCPP_INFO(logger_, "Solver details:");
-    RCLCPP_INFO_STREAM(logger_, "lagrange_multiplier: " << vectorToString(lagrange_multiplier));
-    RCLCPP_INFO_STREAM(logger_, "status_polish: " << status_polish);
-    RCLCPP_INFO_STREAM(logger_, "solution_status: " << solution_status);
-    RCLCPP_INFO_STREAM(logger_, "exit_flag: " << exit_flag);
-
     osqp_solver_ptr_->logUnsolvedStatus("[MPT]");
     return std::nullopt;
   }
@@ -1594,21 +1570,6 @@ std::optional<Eigen::VectorXd> MPTOptimizer::calcOptimizedSteerAngles(
     const int status_polish = osqp_result.polish_status;
     const int exit_flag = osqp_result.exit_flag;
 
-    RCLCPP_INFO(logger_, "optimization failed: result contains NaN values");
-    RCLCPP_INFO(logger_, "Problem details:");
-    RCLCPP_INFO_STREAM(logger_, "P_csc: " << P_csc);
-    RCLCPP_INFO_STREAM(logger_, "f: " << vectorToString(f));
-    RCLCPP_INFO_STREAM(logger_, "A_csc: " << A_csc);
-    RCLCPP_INFO_STREAM(logger_, "lower_bound: " << vectorToString(lower_bound));
-    RCLCPP_INFO_STREAM(logger_, "upper_bound: " << vectorToString(upper_bound));
-    RCLCPP_INFO(logger_, "Solver details:");
-    RCLCPP_INFO_STREAM(logger_, "optimization_result: " << vectorToString(optimization_result));
-    RCLCPP_INFO_STREAM(logger_, "lagrange_multiplier: " << vectorToString(lagrange_multiplier));
-    RCLCPP_INFO_STREAM(logger_, "status_polish: " << status_polish);
-    RCLCPP_INFO_STREAM(logger_, "solution_status: " << solution_status);
-    RCLCPP_INFO_STREAM(logger_, "iteration_status: " << iteration_status);
-    RCLCPP_INFO_STREAM(logger_, "exit_flag: " << exit_flag);
-
     return std::nullopt;
   }
   const Eigen::VectorXd optimized_variables =

system/autoware_system_diagnostic_monitor/config/autoware-main.yaml

@@ -1,13 +1,27 @@
 files:
-  - { path: $(dirname)/control.yaml }
-  - { path: $(dirname)/localization.yaml }
   - { path: $(dirname)/map.yaml }
-  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/localization.yaml }
   - { path: $(dirname)/planning.yaml }
-  - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/control.yaml }
   - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/system.yaml }
 
 units:
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
   - path: /autoware/modes/local
     type: and
     list:
@@ -22,21 +36,13 @@ units:
       - { type: link, link: /autoware/system }
       - { type: link, link: /autoware/control/remote }
 
-  - path: /autoware/modes/stop
-    type: ok
-
-  - path: /autoware/modes/autonomous
+  - path: /autoware/modes/emergency_stop
     type: and
     list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/pull_over
+  - path: /autoware/modes/comfortable_stop
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -47,7 +53,7 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/comfortable_stop
+  - path: /autoware/modes/pull_over
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -58,13 +64,6 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/emergency_stop
-    type: and
-    list:
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/system }
-      - { type: link, link: /autoware/vehicle }
-
   - path: /autoware/debug/tools
     type: and
     list: