From 4710803f90de1c0fe1fbb31b2e457360d5ad741a Mon Sep 17 00:00:00 2001 From: taikitanaka3 Date: Sun, 26 Jun 2022 16:45:59 +0900 Subject: [PATCH] perf: intersection remove debug verbose Signed-off-by: taikitanaka3 --- .../src/scene_module/intersection/util.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp index b1b5bebb22660..1c85eb328d727 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp @@ -405,6 +405,9 @@ bool getObjectiveLanelets( *objective_lanelets_result = objective_lanelets_sequences; *objective_lanelets_with_margin_result = objective_lanelets_with_margin; + // set this flag true when debugging + const bool is_debug = false; + if (!is_debug) return true; std::stringstream ss_c, ss_y, ss_e, ss_o, ss_os; for (const auto & l : conflicting_lanelets) { ss_c << l.id() << ", "; @@ -423,10 +426,10 @@ bool getObjectiveLanelets( ss_os << ll.id() << ", "; } } - RCLCPP_DEBUG( + RCLCPP_INFO( logger, "getObjectiveLanelets() conflict = %s yield = %s ego = %s", ss_c.str().c_str(), ss_y.str().c_str(), ss_e.str().c_str()); - RCLCPP_DEBUG( + RCLCPP_INFO( logger, "getObjectiveLanelets() object = %s object_sequences = %s", ss_o.str().c_str(), ss_os.str().c_str()); return true;