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fix(behavior_path_planner): fix unnecessary output of behavior_path_planner #1481

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fix(behavior_path_planner): fix unnecessary output of behavior_path_planner #1481

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9106fae
fix-unnecessary-output-in-behavior_path_planner
shulanbushangshu Aug 1, 2022
4aa5c06
fix-unnecessary-output-in-behavior_path_planner
shulanbushangshu Aug 1, 2022
2361eb7
ci(pre-commit): autofix
pre-commit-ci[bot] Aug 1, 2022
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7 changes: 4 additions & 3 deletions ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,9 +96,10 @@ class AvoidanceModule : public SceneModuleInterface
uuid_right_, isExecutionReady(), candidate.distance_to_path_change, clock_->now());
return;
}

RCLCPP_WARN_STREAM(
getLogger(), "Direction is UNKNOWN, distance = " << candidate.distance_to_path_change);
if (candidate.distance_to_path_change > 0.0) {
RCLCPP_WARN_STREAM(
getLogger(), "Direction is UNKNOWN, distance = " << candidate.distance_to_path_change);
}
}

void removeRTCStatus() override
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -2159,6 +2159,7 @@ CandidateOutput AvoidanceModule::planCandidate() const
{
DEBUG_PRINT("AVOIDANCE planCandidate start");
CandidateOutput output;
output.distance_to_path_change = 0.0;
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@taikitanaka3 taikitanaka3 Aug 1, 2022 •
edited
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@shulanbushangshu
I think this line is not necessary.
because distance_to_path_change is initialized by {std::numeric_limits::lowest()}


auto path_shifter = path_shifter_;
auto debug_data = debug_data_;
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