hotfix(multi_object_tracker): throttle EKF update warning message

technolojin · technolojin · commit 627f6bb06a7a · 2024-02-06T14:35:44.000+09:00
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -378,7 +378,8 @@ bool BicycleTracker::measureWithPose(
 
   // ekf update
   if (!ekf_.update(Y, C, R)) {
-    RCLCPP_WARN(logger_, "Cannot update");
+    rclcpp::Clock clock{RCL_ROS_TIME};
+    RCLCPP_WARN_THROTTLE(logger_, clock, 1000, "Cannot update");
   }
 
   // normalize yaw and limit vel, slip

Original file line number	Diff line number	Diff line change
`@@ -378,7 +378,8 @@ bool BicycleTracker::measureWithPose(`
`378`	`378`
`379`	`379`	`// ekf update`
`380`	`380`	`if (!ekf_.update(Y, C, R)) {`
`381`		`- RCLCPP_WARN(logger_, "Cannot update");`
	`381`	`+ rclcpp::Clock clock{RCL_ROS_TIME};`
	`382`	`+ RCLCPP_WARN_THROTTLE(logger_, clock, 1000, "Cannot update");`
`382`	`383`	`}`
`383`	`384`
`384`	`385`	`// normalize yaw and limit vel, slip`