fix(log-messages): change traffic light warning from throttle to once

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

Author: Ahmed Ebrahim

planning/behavior_velocity_traffic_light_module/src/scene.cpp

@@ -199,10 +199,9 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
         input_path, lanelet_stop_lines,
         planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m,
         planner_data_->stop_line_extend_length, stop_line_point, stop_line_point_idx)) {
-    RCLCPP_WARN_STREAM_THROTTLE(
-      logger_, *clock_, 5000,
-      "Failed to calculate stop point and insert index for regulatory element id "
-        << traffic_light_reg_elem_.id());
+    RCLCPP_WARN_STREAM_ONCE(
+      logger_, "Failed to calculate stop point and insert index for regulatory element id "
+                 << traffic_light_reg_elem_.id());
     setSafe(true);
     setDistance(std::numeric_limits<double>::lowest());
     return false;
@@ -359,10 +358,9 @@ bool TrafficLightModule::findValidTrafficSignal(TrafficSignalStamped & valid_tra
   const auto traffic_signal_stamped_opt = planner_data_->getTrafficSignal(
     traffic_light_reg_elem_.id(), true /* traffic light module keeps last observation */);
   if (!traffic_signal_stamped_opt) {
-    RCLCPP_WARN_STREAM_THROTTLE(
-      logger_, *clock_, 5000 /* ms */,
-      "the traffic signal data associated with regulatory element id "
-        << traffic_light_reg_elem_.id() << " is not received");
+    RCLCPP_WARN_STREAM_ONCE(
+      logger_, "the traffic signal data associated with regulatory element id "
+                 << traffic_light_reg_elem_.id() << " is not received");
     return false;
   }
   valid_traffic_signal = traffic_signal_stamped_opt.value();